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With Clamping

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firestar5683
2025-12-12 02:09:20 -06:00
parent e767f8a3d2
commit 42cf37d175
1 changed files with 6 additions and 1 deletions
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selfdrive/car/gm/carcontroller.py
+6 -1
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@@ -174,7 +174,12 @@ class CarController(CarControllerBase):
self.apply_gas = int(round(interp(accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
self.apply_brake = int(round(interp(brake_accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
if self.is_volt and self.apply_brake > 0 and self.apply_gas > self.params.ZERO_GAS:
# Clamp within message-valid ranges to avoid ASCM faults from overshoot or rounding
self.apply_gas = int(round(clip(self.apply_gas, self.params.MAX_ACC_REGEN, self.params.MAX_GAS)))
self.apply_brake = int(round(clip(self.apply_brake, 0, self.params.MAX_BRAKE)))
if self.is_volt and self.apply_brake > 0:
# Volt should never present positive torque alongside friction braking
self.apply_gas = self.params.INACTIVE_REGEN
# Don't allow any gas above inactive regen while stopping
# FIXME: brakes aren't applied immediately when enabling at a stop