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cruisestatus acc pedal

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This commit is contained in:
firestar5683
2026-02-14 22:44:22 -06:00
parent 4d7aee4935
commit 2bbffc2a38
1 changed files with 12 additions and 6 deletions
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selfdrive/car/gm/carstate.py
+12 -6
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@@ -194,11 +194,17 @@ class CarState(CarStateBase):
if self.CP.carFingerprint in CC_ONLY_CAR:
ret.accFaulted = False
ret.cruiseState.speed = pt_cp.vl["ECMCruiseControl"]["CruiseSetSpeed"] * CV.KPH_TO_MS
# Try ECM first for cars that might have it (like most GMs), fall back to ASCM
try:
ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0
except:
ret.cruiseState.enabled = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCmdActive"] != 0
if self.CP.carFingerprint == CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL:
try:
ret.cruiseState.enabled = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCmdActive"] != 0
except:
ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0
else:
# Most CC paths use ECM first.
try:
ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0
except:
ret.cruiseState.enabled = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCmdActive"] != 0
if self.CP.enableBsm:
if not sdgm_non_volt:
@@ -250,7 +256,7 @@ class CarState(CarStateBase):
messages += [
("AEBCmd", 10),
]
if CP.carFingerprint not in CC_ONLY_CAR:
if CP.carFingerprint not in CC_ONLY_CAR or CP.carFingerprint == CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL:
messages += [
("ASCMActiveCruiseControlStatus", 25),
]