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Update carcontroller.py

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firestar5683
2026-02-20 02:07:47 -06:00
parent d082aa8a3c
commit 030cf80148
1 changed files with 5 additions and 2 deletions
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selfdrive/car/gm/carcontroller.py
+5 -2
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@@ -419,7 +419,7 @@ class CarController(CarControllerBase):
gas_max = self.params.MAX_GAS
accel_max = self.params.ACCEL_MAX
accel = clip(actuators.accel + accel_due_to_pitch, self.params.ACCEL_MIN, accel_max)
torque = self.tireRadius * ((self.mass*accel) + (0.5*self.coeffDrag*self.frontalArea*self.airDensity*CS.out.vEgo**2))
@@ -501,7 +501,10 @@ class CarController(CarControllerBase):
if not self.CP.radarUnavailable:
send_adas = True
if self.CP.carFingerprint in kaofui_cars:
send_adas = (self.CP.networkLocation != NetworkLocation.fwdCamera) and (self.CP.carFingerprint not in SDGM_CAR)
if self.CP.carFingerprint in ASCM_INT:
send_adas = True
else:
send_adas = (self.CP.networkLocation != NetworkLocation.fwdCamera) and (self.CP.carFingerprint not in SDGM_CAR)
if send_adas:
tt = self.frame * DT_CTRL