From 02eab9bfedb4b61bc2f15b074770d2bc443af593 Mon Sep 17 00:00:00 2001 From: firestar5683 <168790843+firestar5683@users.noreply.github.com> Date: Mon, 12 May 2025 13:23:54 -0500 Subject: [PATCH] Revert "Update interface.py" This reverts commit c54742b762a5b4763bd59cbc3251e4ff1ef630b8. --- selfdrive/car/gm/interface.py | 15 +++------------ 1 file changed, 3 insertions(+), 12 deletions(-) diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 580ee3c5c..7b96b7d2c 100644 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -133,10 +133,6 @@ class CarInterface(CarInterfaceBase): ret.openpilotLongitudinalControl = True ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG - # CAM_LONG flag only if camera-capable and conditional_experimental_mode enabled - if candidate in CAMERA_ACC_CAR and getattr(frogpilot_toggles, "conditional_experimental_mode", False): - ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG - elif candidate in SDGM_CAR: ret.longitudinalTuning.kiV = [0., 0.] # TODO: tuning ret.experimentalLongitudinalAvailable = False @@ -270,11 +266,7 @@ class CarInterface(CarInterfaceBase): ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM ret.minEnableSpeed = -1 ret.pcmCruise = False - try: - disable_long = frogpilot_toggles.disable_openpilot_long - except AttributeError: - disable_long = params.get_bool("DisableOpenpilotLongitudinal") - ret.openpilotLongitudinalControl = not disable_long + ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long ret.stoppingControl = True ret.autoResumeSng = True @@ -294,15 +286,14 @@ class CarInterface(CarInterfaceBase): elif candidate in CC_ONLY_CAR: ret.flags |= GMFlags.CC_LONG.value + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_CC_LONG ret.radarUnavailable = True ret.experimentalLongitudinalAvailable = False ret.minEnableSpeed = 24 * CV.MPH_TO_MS ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long ret.pcmCruise = False - if not ret.enableGasInterceptor: - ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_CC_LONG - + if not ret.enableGasInterceptor and candidate in CC_ONLY_CAR: ret.longitudinalTuning.kpBP = [10.7, 10.8, 28.] # 10.7 m/s == 24 mph ret.longitudinalTuning.kpV = [0., 20., 20.] # set lower end to 0 since we can't drive below that speed ret.longitudinalTuning.deadzoneBP = [0.]