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stop cruise main drop?

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firestar5683
2026-03-22 12:57:13 -05:00
parent d0e1db6766
commit 7000063c41
1 changed files with 12 additions and 15 deletions
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opendbc_repo/opendbc/car/gm/carcontroller.py
+12 -15
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@@ -528,21 +528,18 @@ class CarController(CarControllerBase):
if self.CP.networkLocation == NetworkLocation.gateway and self.frame % keepalive_step == 0:
can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
# Pedal interceptor: continuously spam CANCEL while OP longitudinal is active.
if (self.CP.flags & GMFlags.PEDAL_LONG.value) and CC.longActive:
if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
malibu_cancel_requested = True
elif (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
self.last_button_frame = self.frame
cancel_bus = CanBus.CAMERA if self.CP.carFingerprint == CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL else CanBus.POWERTRAIN
can_sends.append(gmcan.create_buttons(self.packer_pt, cancel_bus, (CS.buttons_counter + 1) % 4, CruiseButtons.CANCEL))
# CC_LONG: only send CANCEL on OP disengage while cruise is still on.
elif (
(self.CP.flags & GMFlags.CC_LONG.value) and
self.prev_op_enabled and
not CC.enabled and
CS.out.cruiseState.enabled
):
# - CC_LONG: cancel stock CC if OP is not active
stock_cc_active = CS.out.cruiseState.enabled or CS.pcm_acc_status != AccState.OFF
# Pedal-long cancel should only run while stock cruise is actually enabled.
# Using pcm_acc_status here causes cancel spam even after disable, which can
# intermittently knock CruiseMain off.
stock_cc_active_pedal = CS.out.cruiseState.enabled
pedal_cancel = bool(self.CP.flags & GMFlags.PEDAL_LONG.value)
if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
pedal_cancel = pedal_cancel and CC.longActive
if ((pedal_cancel and stock_cc_active_pedal) or
(((self.CP.flags & GMFlags.CC_LONG.value) and not CC.enabled) and stock_cc_active)):
if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
malibu_cancel_requested = True
elif (self.frame - self.last_button_frame) * DT_CTRL > 0.04: