mirror of
https://github.com/firestar5683/StarPilot.git
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GM camera ACC: show under enable speed alert (#26148)
* fix the fault more generically * fix * need this * some clean up * comment and use standstill * comment * add comment * better fix * rm * better (for now) * update docs old-commit-hash: e46d162b1e5d4414d54d27c54190e7b3116596ba
This commit is contained in:
Shane Smiskol
+3
-3
@@ -18,8 +18,8 @@ A supported vehicle is one that just works when you install a comma three. All s
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|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
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|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
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|Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|6 mph|[](##)|[](##)|OBD-II|
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|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|Stock|0 mph|6 mph|[](##)|[](##)|GM|
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|Chevrolet|Silverado 1500 2020-21|Safety Package II|Stock|0 mph|6 mph|[](##)|[](##)|GM|
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|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|Stock|3 mph|6 mph|[](##)|[](##)|GM|
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|Chevrolet|Silverado 1500 2020-21|Safety Package II|Stock|3 mph|6 mph|[](##)|[](##)|GM|
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|Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[](##)|[](##)|OBD-II|
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|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|FCA|
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|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|FCA|
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@@ -32,7 +32,7 @@ A supported vehicle is one that just works when you install a comma three. All s
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|Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai H|
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|Genesis|G90 2017-18|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai C|
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|GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[](##)|[](##)|OBD-II|
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|GMC|Sierra 1500 2020-21|Driver Alert Package II|Stock|0 mph|6 mph|[](##)|[](##)|GM|
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|GMC|Sierra 1500 2020-21|Driver Alert Package II|Stock|3 mph|6 mph|[](##)|[](##)|GM|
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|Honda|Accord 2018-22|All|openpilot|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
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|Honda|Accord Hybrid 2018-22|All|openpilot|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
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|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|Honda Nidec|
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@@ -62,11 +62,14 @@ class CarInterface(CarInterfaceBase):
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ret.radarOffCan = True # no radar
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ret.pcmCruise = True
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ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
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ret.minEnableSpeed = 5 * CV.KPH_TO_MS
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else: # ASCM, OBD-II harness
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ret.openpilotLongitudinalControl = True
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ret.networkLocation = NetworkLocation.gateway
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ret.radarOffCan = False
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ret.pcmCruise = False # stock non-adaptive cruise control is kept off
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# supports stop and go, but initial engage must (conservatively) be above 18mph
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ret.minEnableSpeed = 18 * CV.MPH_TO_MS
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# These cars have been put into dashcam only due to both a lack of users and test coverage.
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# These cars likely still work fine. Once a user confirms each car works and a test route is
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@@ -90,9 +93,6 @@ class CarInterface(CarInterfaceBase):
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ret.steerLimitTimer = 0.4
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ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz
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# supports stop and go, but initial engage must (conservatively) be above 18mph
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ret.minEnableSpeed = 18 * CV.MPH_TO_MS
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if candidate == CAR.VOLT:
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ret.mass = 1607. + STD_CARGO_KG
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ret.wheelbase = 2.69
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@@ -153,7 +153,6 @@ class CarInterface(CarInterfaceBase):
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tire_stiffness_factor = 1.0
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elif candidate in (CAR.BOLT_EV, CAR.BOLT_EUV):
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ret.minEnableSpeed = -1
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ret.mass = 1669. + STD_CARGO_KG
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ret.wheelbase = 2.63779
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ret.steerRatio = 16.8
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@@ -163,7 +162,6 @@ class CarInterface(CarInterfaceBase):
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CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
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elif candidate == CAR.SILVERADO:
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ret.minEnableSpeed = -1
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ret.mass = 2200. + STD_CARGO_KG
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ret.wheelbase = 3.75
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ret.steerRatio = 16.3
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@@ -172,7 +170,6 @@ class CarInterface(CarInterfaceBase):
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CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
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elif candidate == CAR.EQUINOX:
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ret.minEnableSpeed = -1
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ret.mass = 3500. * CV.LB_TO_KG + STD_CARGO_KG
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ret.wheelbase = 2.72
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ret.steerRatio = 14.4
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@@ -207,19 +204,16 @@ class CarInterface(CarInterfaceBase):
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GearShifter.eco, GearShifter.manumatic],
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pcm_enable=self.CP.pcmCruise)
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if ret.vEgo < self.CP.minEnableSpeed:
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# Enabling at a standstill with brake is allowed
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# TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
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if ret.vEgo < self.CP.minEnableSpeed and not (ret.standstill and ret.brake >= 20 and
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self.CP.networkLocation == NetworkLocation.fwdCamera):
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events.add(EventName.belowEngageSpeed)
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if ret.cruiseState.standstill:
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events.add(EventName.resumeRequired)
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if ret.vEgo < self.CP.minSteerSpeed:
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events.add(EventName.belowSteerSpeed)
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if self.CP.networkLocation == NetworkLocation.fwdCamera and self.CP.pcmCruise:
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# The ECM has a higher brake pressed threshold than the camera, causing an
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# ACC fault when you engage at a stop with your foot partially on the brake
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if ret.vEgoRaw < 0.1 and ret.brake < 20:
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events.add(EventName.gmAccFaultedTemp)
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ret.events = events.to_msg()
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return ret
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