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GM: Revert noisy brake pressed signal (#24612)

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* Revert "GM: Fix noisy brake pressed (#23712)"

This reverts commit 2cd30c56d9e591d547ebf16292dd6b75aeee9fdd.

* keep this

* same check, but don't clip CS.brake

* bump panda

* bump panda to master
old-commit-hash: 1b114464a94aadf4cb10494c53c610457be06d4c
This commit is contained in:
Shane Smiskol
2022-05-20 19:59:15 -07:00
committed by GitHub
parent cb11e4b43b
commit 7b0bc2c163
2 changed files with 8 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
panda
+1 -1
Submodule panda updated: 36c62afa0c...6d19b46ef5
selfdrive/car/gm/carstate.py
+7 -7
View File
@@ -28,10 +28,15 @@ class CarState(CarStateBase):
ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr])
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
ret.standstill = ret.vEgoRaw < 0.01
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL"]["PRNDL"], None))
ret.brakePressed = pt_cp.vl["ECMEngineStatus"]["Brake_Pressed"] != 0
# Brake pedal's potentiometer returns near-zero reading even when pedal is not pressed.
ret.brake = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] / 0xd0
ret.brakePressed = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] >= 10
# Regen braking is braking
if self.car_fingerprint == CAR.VOLT:
ret.brakePressed = ret.brakePressed or pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0
ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254.
ret.gasPressed = ret.gas > 1e-5
@@ -64,10 +69,6 @@ class CarState(CarStateBase):
ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
ret.accFaulted = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED
# Regen braking is braking
if self.car_fingerprint == CAR.VOLT:
ret.brakePressed = ret.brakePressed or pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0
ret.cruiseState.enabled = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.OFF
ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
@@ -101,7 +102,6 @@ class CarState(CarStateBase):
("TractionControlOn", "ESPStatus"),
("EPBClosed", "EPBStatus"),
("CruiseMainOn", "ECMEngineStatus"),
("Brake_Pressed", "ECMEngineStatus"),
]
checks = [