Redneck 2.0

selfdrive/car/gm/carcontroller.py

@@ -304,6 +304,9 @@ class CarController(CarControllerBase):
       else:
         apply_steer = 0
 
+      if (self.CP.flags & GMFlags.CC_LONG.value) and CC.enabled and not CS.out.cruiseState.enabled: # Send 0 so Panda doesn't error
+        apply_steer = 0
+
       # shift previous steer timestamp
       self.prev_steer_ts_ns = self.last_steer_ts_ns
       self.last_steer_ts_ns = now_nanos
@@ -371,7 +374,9 @@ class CarController(CarControllerBase):
         if self.CP.flags & GMFlags.CC_LONG.value:
           if CC.longActive and CS.out.vEgo > self.CP.minEnableSpeed:
             # Using extend instead of append since the message is only sent intermittently
-            can_sends.extend(gmcan.create_gm_cc_spam_command(self.packer_pt, self, CS, actuators))
+            can_sends.extend(gmcan.create_gm_cc_spam_command(self.packer_pt, self, CS, actuators, frogpilot_toggles))
+          elif CC.enabled and self.frame % 52 == 0 and CS.cruise_buttons == CruiseButtons.UNPRESS and CS.out.gasPressed and CS.out.cruiseState.speed < CS.out.vEgo < hud_v_cruise:
+            can_sends.extend(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, (CS.buttons_counter + 1) % 4, CruiseButtons.DECEL_SET))
         if self.CP.enableGasInterceptor:
           can_sends.append(create_gas_interceptor_command(self.packer_pt, interceptor_gas_cmd, idx))
         if self.CP.carFingerprint not in CC_ONLY_CAR:

selfdrive/car/gm/gmcan.py

@@ -205,44 +205,41 @@ def create_regen_paddle_command(packer, bus, press_regen_paddle):
   }
   return packer.make_can_msg("EBCMRegenPaddle", bus, values)
 
-def create_gm_cc_spam_command(packer, controller, CS, actuators):
-  if controller.params_.get_bool("IsMetric"):
-    _CV = CV.MS_TO_KPH
-    RATE_UP_MAX = 0.04
-    RATE_DOWN_MAX = 0.04
-  else:
-    _CV = CV.MS_TO_MPH
-    RATE_UP_MAX = 0.2
-    RATE_DOWN_MAX = 0.2
-
-  accel = actuators.accel * _CV  # m/s/s to mph/s
-  speedSetPoint = int(round(CS.out.cruiseState.speed * _CV))
+def create_gm_cc_spam_command(packer, controller, CS, actuators, frogpilot_toggles):
+  accel = actuators.accel
+  Vego = CS.out.vEgo
 
   cruiseBtn = CruiseButtons.INIT
-  if speedSetPoint == CS.CP.minEnableSpeed and accel < -1:
+  if abs(accel) <= 0.15:
+    rate = 1
+  else:
+    rate = 0.2
+
+  MS_CONVERT = CV.MS_TO_KPH if frogpilot_toggles.is_metric else CV.MS_TO_MPH
+
+  speedSetPoint = int(round(CS.out.cruiseState.speed * MS_CONVERT))
+
+  if accel > 0:
+    DesiredSetPoint = int(round((Vego * 1.01 + 3 * accel) * MS_CONVERT)) # 1.01 factor to match cluster speed better
+  else: # accel <= 0
+    DesiredSetPoint = int(round((Vego * 1.01 + 3 * accel) * MS_CONVERT))
+
+  if CS.CP.minEnableSpeed - (DesiredSetPoint /  MS_CONVERT) > 3.25:
     cruiseBtn = CruiseButtons.CANCEL
     controller.apply_speed = 0
-    rate = 0.04
-  elif accel < 0:
+  elif DesiredSetPoint < speedSetPoint and speedSetPoint > CS.CP.minEnableSpeed * MS_CONVERT + 1:
     cruiseBtn = CruiseButtons.DECEL_SET
-    if speedSetPoint > (CS.out.vEgo * _CV) + 3.0:  # If accel is changing directions, bring set speed to current speed as fast as possible
-      rate = RATE_DOWN_MAX
-    else:
-      rate = max(-1 / accel, RATE_DOWN_MAX)
     controller.apply_speed = speedSetPoint - 1
-  elif accel > 0:
+  elif DesiredSetPoint > speedSetPoint:
     cruiseBtn = CruiseButtons.RES_ACCEL
-    if speedSetPoint < (CS.out.vEgo * _CV) - 3.0:
-      rate = RATE_UP_MAX
-    else:
-      rate = max(1 / accel, RATE_UP_MAX)
     controller.apply_speed = speedSetPoint + 1
   else:
+    cruiseBtn = CruiseButtons.INIT
     controller.apply_speed = speedSetPoint
-    rate = float('inf')
 
   # Check rlogs closely - our message shouldn't show up on the pt bus for us
   # Or bus 2, since we're forwarding... but I think it does
+  # TODO: Cleanup the timing - normal is every 30ms...
   if (cruiseBtn != CruiseButtons.INIT) and ((controller.frame - controller.last_button_frame) * DT_CTRL > rate):
     controller.last_button_frame = controller.frame
     idx = (CS.buttons_counter + 1) % 4  # Need to predict the next idx for '22-23 EUV

selfdrive/car/gm/interface.py

@@ -296,9 +296,9 @@ class CarInterface(CarInterfaceBase):
 
       if not ret.enableGasInterceptor and candidate in CC_ONLY_CAR: #redneck tuning
         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.kpV = [0., 5., 2.]  # set lower end to 0 since we can't drive below that speed
         ret.longitudinalTuning.deadzoneBP = [0., 1.]
-        ret.longitudinalTuning.deadzoneV = [0.56, 0.56]  # == 2 km/h/s, 1.25 mph/s
+        ret.longitudinalTuning.deadzoneV = [0.9, 0.9]  # == 2 km/h/s, 1.25 mph/s
         ret.longitudinalActuatorDelay = 1.  # TODO: measure this
         ret.longitudinalTuning.kiBP = [0.]
         ret.longitudinalTuning.kiV = [0.1]

selfdrive/controls/controlsd.py

@@ -205,6 +205,8 @@ class Controls:
 
     self.frogpilot_toggles = get_frogpilot_toggles()
 
+    self.frogpilot_toggles.is_metric = self.is_metric
+
   def set_initial_state(self):
     if REPLAY:
       controls_state = self.params.get("ReplayControlsState")