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brake mismatches

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firestar5683
2026-02-16 13:25:23 -06:00
parent 7dbdb33ed1
commit 5fbaebc91c
2 changed files with 7 additions and 7 deletions
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selfdrive/car/gm/carstate.py
+3 -3
View File
@@ -42,7 +42,6 @@ class CarState(CarStateBase):
kaofui_state_cars = volt_like | SDGM_CAR | ASCM_INT | {
CAR.CHEVROLET_BLAZER,
CAR.CHEVROLET_MALIBU_SDGM,
CAR.CHEVROLET_MALIBU_CC,
CAR.CHEVROLET_MALIBU_HYBRID_CC,
}
sdgm_non_volt = self.CP.carFingerprint in SDGM_CAR and \
@@ -111,6 +110,9 @@ class CarState(CarStateBase):
if self.CP.carFingerprint == CAR.CHEVROLET_BLAZER:
# Blazer can miss light taps on analog threshold; include digital brake switch.
ret.brakePressed = (pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0) or (ret.brake >= 0.7)
elif self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_CC:
# Malibu CC: keep strict opgm behavior using BrakePedalPos >= 8.
ret.brakePressed = ret.brake >= 8
elif (self.CP.flags & GMFlags.FORCE_BRAKE_C9.value) or (self.CP.networkLocation == NetworkLocation.fwdCamera):
ret.brakePressed = pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0
else:
@@ -235,7 +237,6 @@ class CarState(CarStateBase):
kaofui_state_cars = volt_like | SDGM_CAR | ASCM_INT | {
CAR.CHEVROLET_BLAZER,
CAR.CHEVROLET_MALIBU_SDGM,
CAR.CHEVROLET_MALIBU_CC,
CAR.CHEVROLET_MALIBU_HYBRID_CC,
}
sdgm_non_volt = CP.carFingerprint in SDGM_CAR and \
@@ -280,7 +281,6 @@ class CarState(CarStateBase):
kaofui_state_cars = volt_like | SDGM_CAR | ASCM_INT | {
CAR.CHEVROLET_BLAZER,
CAR.CHEVROLET_MALIBU_SDGM,
CAR.CHEVROLET_MALIBU_CC,
CAR.CHEVROLET_MALIBU_HYBRID_CC,
}
prndl2_rate = 10 if CP.carFingerprint in kaofui_state_cars else 40
selfdrive/car/gm/interface.py
+4 -4
View File
@@ -178,7 +178,7 @@ class CarInterface(CarInterfaceBase):
else:
ret.transmissionType = TransmissionType.automatic
kaofui_cars = SDGM_CAR | ASCM_INT | VOLT_LIKE_CARS | {CAR.CHEVROLET_MALIBU_CC, CAR.CHEVROLET_MALIBU_HYBRID_CC}
kaofui_cars = SDGM_CAR | ASCM_INT | VOLT_LIKE_CARS | {CAR.CHEVROLET_MALIBU_HYBRID_CC}
ret.longitudinalTuning.kiBP = [5., 35.] if candidate in kaofui_cars else [5., 35., 60.]
is_bolt_2022_2023_pedal = candidate == CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL and ret.enableGasInterceptor
@@ -186,7 +186,6 @@ class CarInterface(CarInterfaceBase):
kaofui_camera_cars = {
CAR.CHEVROLET_VOLT_CAMERA,
CAR.CHEVROLET_VOLT_CC,
CAR.CHEVROLET_MALIBU_CC,
CAR.CHEVROLET_MALIBU_HYBRID_CC,
}
bolt_cc_camera_cars = {
@@ -251,8 +250,9 @@ class CarInterface(CarInterfaceBase):
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.minSteerSpeed = 7 * CV.MPH_TO_MS
gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_SDGM
# Use C9 brake bit only on SDGM variants that lack 0xBE (ECMAcceleratorPos)
if ACCELERATOR_POS_MSG not in fingerprint.get(CanBus.POWERTRAIN, {}):
# Use C9 brake bit on Blazer and SDGM variants that lack 0xBE (ECMAcceleratorPos),
# so panda brake_pressed source matches carstate on light taps.
if candidate == CAR.CHEVROLET_BLAZER or ACCELERATOR_POS_MSG not in fingerprint.get(CanBus.POWERTRAIN, {}):
gm_safety_cfg.safetyParam |= Panda.FLAG_GM_FORCE_BRAKE_C9
ret.flags |= GMFlags.FORCE_BRAKE_C9.value