From 297ff1973d7e0ecd44678e767742ac73b21f90bb Mon Sep 17 00:00:00 2001 From: firestar5683 <168790843+firestar5683@users.noreply.github.com> Date: Fri, 26 Jun 2026 02:18:55 -0500 Subject: [PATCH] Don't Brake Check --- selfdrive/controls/lib/longitudinal_planner.py | 3 ++- .../controls/tests/test_longitudinal_planner.py | 13 +++++++++++++ 2 files changed, 15 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index b7e6f6cbd..e77c99291 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -472,7 +472,8 @@ def should_publish_planner_fcw(crash_cnt: int, car_state, radar_state) -> bool: def get_vehicle_min_accel(CP, v_ego): # Planner-side physical decel capability estimate for GM pedal-long paths. - if getattr(CP, "carName", "") == "gm" and getattr(CP, "enableGasInterceptorDEPRECATED", False): + is_gm = getattr(CP, "carName", "") == "gm" or getattr(CP, "brand", "") == "gm" + if is_gm and getattr(CP, "enableGasInterceptorDEPRECATED", False): try: from opendbc.car.gm.values import GMFlags, CAR if bool(CP.flags & GMFlags.PEDAL_LONG.value): diff --git a/selfdrive/controls/tests/test_longitudinal_planner.py b/selfdrive/controls/tests/test_longitudinal_planner.py index 84de22133..f884b3a85 100644 --- a/selfdrive/controls/tests/test_longitudinal_planner.py +++ b/selfdrive/controls/tests/test_longitudinal_planner.py @@ -9,6 +9,7 @@ import pytest from cereal import log from opendbc.car.honda.interface import CarInterface from opendbc.car.honda.values import CAR +from opendbc.car.gm.values import CAR as GM_CAR, GMFlags import openpilot.selfdrive.controls.lib.longitudinal_planner as longitudinal_planner_module from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N @@ -146,6 +147,18 @@ def test_experimental_mlsim_uses_vehicle_min_accel_floor(model_version): assert planner.output_a_target < comfort_min_accel +def test_gm_pedal_vehicle_min_accel_uses_brand_when_car_name_is_missing(): + CP = SimpleNamespace( + carName=None, + brand="gm", + enableGasInterceptorDEPRECATED=True, + flags=GMFlags.PEDAL_LONG.value, + carFingerprint=GM_CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL, + ) + + assert get_vehicle_min_accel(CP, 32.4) == pytest.approx(-2.95) + + @pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"]) def test_acc_mode_uses_close_raw_lead_when_tracking_lead_is_debounced(model_version): v_ego = 5.0