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GM: refactor steering control code (#27251)

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* hopefully easier to understand?

* space

* no confusing elif, move comment to relevant part

* better
old-commit-hash: 5b9f2c3fcd09409211f518b9074afa046a1915d6
This commit is contained in:
Shane Smiskol
2023-02-08 00:09:49 -08:00
committed by GitHub
parent 503fea8e12
commit 2b84d8e3c3
1 changed files with 14 additions and 13 deletions
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selfdrive/car/gm/carcontroller.py
+14 -13
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@@ -49,25 +49,26 @@ class CarController:
can_sends = []
# Steering (Active: 50Hz, inactive: 10Hz)
# Attempt to sync with camera on startup at 50Hz, first few msgs are blocked
init_lka_counter = not self.sent_lka_steering_cmd
# Also send at 50Hz until we're in sync with camera so counters align when relay closes, preventing a fault
# openpilot can subtly drift, so this is activated throughout a drive to stay synced
out_of_sync = self.lka_steering_cmd_counter % 4 != (CS.camera_lka_steering_cmd_counter + 1) % 4
sync_steer = (init_lka_counter or out_of_sync) and self.CP.networkLocation == NetworkLocation.fwdCamera
steer_step = self.params.STEER_STEP if CC.latActive else self.params.INACTIVE_STEER_STEP
steer_step = self.params.INACTIVE_STEER_STEP
if CC.latActive or sync_steer:
steer_step = self.params.STEER_STEP
if self.CP.networkLocation == NetworkLocation.fwdCamera:
# Also send at 50Hz:
# - on startup, first few msgs are blocked
# - until we're in sync with camera so counters align when relay closes, preventing a fault.
# openpilot can subtly drift, so this is activated throughout a drive to stay synced
out_of_sync = self.lka_steering_cmd_counter % 4 != (CS.camera_lka_steering_cmd_counter + 1) % 4
if not self.sent_lka_steering_cmd or out_of_sync:
steer_step = self.params.STEER_STEP
# Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we just received the
# next Panda loopback confirmation in the current CS frame.
if CS.loopback_lka_steering_cmd_updated:
self.lka_steering_cmd_counter += 1
self.sent_lka_steering_cmd = True
elif (self.frame - self.last_steer_frame) >= steer_step:
# Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we just
# received the ASCMLKASteeringCmd loopback confirmation in the current CS frame
if (self.frame - self.last_steer_frame) >= steer_step and not CS.loopback_lka_steering_cmd_updated:
# Initialize ASCMLKASteeringCmd counter using the camera until we get a msg on the bus
if init_lka_counter:
if not self.sent_lka_steering_cmd:
self.lka_steering_cmd_counter = CS.pt_lka_steering_cmd_counter + 1
if CC.latActive: