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Update carcontroller.py

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firestar5683
2025-05-20 18:33:08 -05:00
parent 040220506f
commit 7db60a6c43
1 changed files with 0 additions and 7 deletions
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selfdrive/car/gm/carcontroller.py
-7
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@@ -59,7 +59,6 @@ class CarController(CarControllerBase):
self.accel_g = 0.0
self.regen_paddle_pressed = False
self.aego = 0.0
self.regen_disable_until = 0 # frame index until which regen spoof is blocked after a fault
def calc_pedal_command(self, accel: float, long_active: bool, car_velocity) -> Tuple[float, bool]:
if not long_active:
@@ -123,12 +122,6 @@ class CarController(CarControllerBase):
self.regen_paddle_pressed
)
# If longActive just dropped (EPS error), block regen spoof for a cooldown period
if not CC.longActive and getattr(self, "last_regen_active", False):
# block for 50 frames (~0.5s)
self.regen_disable_until = self.frame + 50
regen_active = regen_active and (self.frame >= self.regen_disable_until)
# Send regen paddle and PRNDL2 commands at ~66Hz, avoiding steer frame timing
steer_phase = self.last_steer_frame % 3