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Restore Sanity

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firestar5683
2025-05-15 18:19:34 -05:00
parent 9bd0463c64
commit 7c2fa00aec
3 changed files with 8 additions and 4 deletions
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selfdrive/car/car_helpers.py
+2 -1
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@@ -209,7 +209,8 @@ def get_car(logcan, sendcan, experimental_long_allowed, params, num_pandas=1, fr
CP.fingerprintSource = source CP.fingerprintSource = source
CP.fuzzyFingerprint = not exact_match CP.fuzzyFingerprint = not exact_match
return get_car_interface(CP, FPCP), CP, FPCP interface_instance = get_car_interface(CP, None)
return interface_instance, CP, FPCP
def write_car_param(platform=MOCK.MOCK): def write_car_param(platform=MOCK.MOCK):
params = Params() params = Params()
selfdrive/car/gm/interface.py
+2
View File
@@ -98,6 +98,8 @@ class CarInterface(CarInterfaceBase):
if PEDAL_MSG in fingerprint[0]: if PEDAL_MSG in fingerprint[0]:
ret.enableGasInterceptor = True ret.enableGasInterceptor = True
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_GAS_INTERCEPTOR ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_GAS_INTERCEPTOR
# When a pedal interceptor is present, always use normal longitudinal (block stock cruise)
experimental_long = False
if candidate in EV_CAR: if candidate in EV_CAR:
ret.transmissionType = TransmissionType.direct ret.transmissionType = TransmissionType.direct
selfdrive/car/interfaces.py
+4 -3
View File
@@ -218,9 +218,10 @@ class CarInterfaceBase(ABC):
self.silent_steer_warning = True self.silent_steer_warning = True
self.v_ego_cluster_seen = False self.v_ego_cluster_seen = False
self.CS = CarState(CP, FPCP) self.CS = CarState(CP, None)
self.cp = self.CS.get_can_parser(CP, FPCP) fp = FPCP if FPCP is not None else getattr(self, "FPCP", None)
self.cp_cam = self.CS.get_cam_can_parser(CP, FPCP) self.cp = self.CS.get_can_parser(CP, fp)
self.cp_cam = self.CS.get_cam_can_parser(CP, fp)
self.cp_adas = self.CS.get_adas_can_parser(CP) self.cp_adas = self.CS.get_adas_can_parser(CP)
self.cp_body = self.CS.get_body_can_parser(CP) self.cp_body = self.CS.get_body_can_parser(CP)
self.cp_loopback = self.CS.get_loopback_can_parser(CP) self.cp_loopback = self.CS.get_loopback_can_parser(CP)