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Remove blending

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firestar5683
2025-05-29 15:33:21 -05:00
parent d710061a72
commit 7d8187e508
1 changed files with 3 additions and 19 deletions
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selfdrive/car/gm/carcontroller.py
+3 -19
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@@ -114,28 +114,12 @@ class CarController(CarControllerBase):
# Compute raw pedal gas
raw_pedal_gas = clip((pedaloffset + (accel / gain) * 0.6), 0.0, 1.0) if press_regen_paddle else clip((pedaloffset + accel * 0.6), 0.0, 1.0)
# --- Blending logic: keep endpoints constant during blend ---
# Initialize blend endpoints if not present
if not hasattr(self, 'blend_start_gas'):
self.blend_start_gas = raw_pedal_gas
self.blend_target_gas = raw_pedal_gas
if self.regen_paddle_pressed_changed:
# start 200-frame blend: capture fixed endpoints
self.blend_start_gas = self.prev_pedal_gas # last output
self.blend_target_gas = raw_pedal_gas # new raw value
self.regen_paddle_pressed_changed_counter = 200
if self.regen_paddle_pressed_changed_counter > 0:
ratio = interp(self.regen_paddle_pressed_changed_counter, [200, 0], [0.0, 1.0])
pedal_gas = self.blend_target_gas * ratio + self.blend_start_gas * (1.0 - ratio)
self.regen_paddle_pressed_changed_counter -= 1
else:
pedal_gas = raw_pedal_gas
self.prev_pedal_gas = pedal_gas
# --- Immediate application of raw pedal gas, no blending ---
pedal_gas = raw_pedal_gas
# Safety cap on initial takeoff: limit pedal_gas based on vehicle speed
pedal_gas_max = interp(car_velocity, [0.0, 5, 30], [0.22, 0.3275, 0.3725])
pedal_gas = clip(pedal_gas, 0.0, pedal_gas_max)
self.prev_pedal_gas = pedal_gas
return pedal_gas, press_regen_paddle