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Fix Pedal

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firestar5683
2025-10-08 22:36:11 -05:00
parent 939748dd03
commit 39cdd2f5d3
1 changed files with 2 additions and 5 deletions
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selfdrive/car/gm/carcontroller.py
+2 -5
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@@ -444,11 +444,8 @@ class CarController(CarControllerBase):
) and CS.out.cruiseState.enabled:
if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
self.last_button_frame = self.frame
# Send cancel to appropriate bus based on car type (match stock longitudinal logic)
if self.CP.carFingerprint in SDGM_CAR:
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, (CS.buttons_counter + 1) % 4, CruiseButtons.CANCEL))
else:
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, (CS.buttons_counter + 1) % 4, CruiseButtons.CANCEL))
# Always send cancel on POWERTRAIN bus for pedal/CC-long paths
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, (CS.buttons_counter + 1) % 4, CruiseButtons.CANCEL))
else:
# While car is braking, cancel button causes ECM to enter a soft disable state with a fault status.