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Drop accumulator

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firestar5683
2025-05-29 23:03:57 -05:00
parent 415ceb9da0
commit 3a3c8bba99
1 changed files with 2 additions and 2 deletions
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selfdrive/car/gm/carcontroller.py
+2 -2
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@@ -180,14 +180,14 @@ class CarController(CarControllerBase):
self.spoof_mid_sent = True
# Overflow spoof: insert extra when accumulator allows
if self.spoof_accum >= 0.8 and not self.spoof_over_sent and interval_ns > 0:
if self.spoof_accum >= 1.0 and not self.spoof_over_sent and interval_ns > 0:
slot2_ns = self.prev_steer_ts_ns + (interval_ns * 2) // 3
if now_nanos >= slot2_ns and now_nanos - self.last_steer_ts_ns >= 10_000_000:
paddle_sends.append(gmcan.create_prndl2_command(self.packer_pt, CanBus.POWERTRAIN, True))
paddle_sends.append(gmcan.create_regen_paddle_command(self.packer_pt, CanBus.POWERTRAIN, True))
self.last_spoof_ts_ns = now_nanos
self.spoof_over_sent = True
self.spoof_accum -= 0.8
self.spoof_accum -= 1.0
# === End Spoof scheduling ===
# === Off-pulse scheduling on regen release ===