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Send more off frames

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firestar5683
2025-05-21 12:18:15 -05:00
parent 95ec31a7f9
commit 729ee3cc99
1 changed files with 11 additions and 3 deletions
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selfdrive/car/gm/carcontroller.py
+11 -3
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@@ -59,6 +59,8 @@ class CarController(CarControllerBase):
self.accel_g = 0.0
self.regen_paddle_pressed = False
self.aego = 0.0
# Number of consecutive off-frames to send after regen release
self.off_spoof_frames = 0
def calc_pedal_command(self, accel: float, long_active: bool, car_velocity) -> Tuple[float, bool]:
if not long_active:
@@ -152,10 +154,16 @@ class CarController(CarControllerBase):
can_sends.append(gmcan.create_regen_paddle_command(self.packer_pt, CanBus.POWERTRAIN, True))
self.last_spoof_frame = self.frame
# Send off command once on regen release
# Send off commands for two consecutive frames on regen release
if not regen_active and getattr(self, "last_regen_active", False):
can_sends.append(gmcan.create_prndl2_command(self.packer_pt, CanBus.POWERTRAIN, False))
can_sends.append(gmcan.create_regen_paddle_command(self.packer_pt, CanBus.POWERTRAIN, False))
# schedule two off-frames
self.off_spoof_frames = 3
# while frames remain, send off spoof if not colliding with steer
if getattr(self, "off_spoof_frames", 0) > 0:
if self.frame != self.last_steer_frame:
can_sends.append(gmcan.create_prndl2_command(self.packer_pt, CanBus.POWERTRAIN, False))
can_sends.append(gmcan.create_regen_paddle_command(self.packer_pt, CanBus.POWERTRAIN, False))
self.off_spoof_frames -= 1
# Update regen_active state
self.last_regen_active = regen_active