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Pedal Cancel?

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firestar5683
2026-02-09 20:06:53 -06:00
parent e5fec364bb
commit 8a09dbc5b0
1 changed files with 2 additions and 1 deletions
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selfdrive/car/gm/carcontroller.py
+2 -1
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@@ -521,10 +521,11 @@ class CarController(CarControllerBase):
can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
# TODO: integrate this with the code block below?
stock_cc_active = CS.out.cruiseState.enabled or CS.pcm_acc_status != AccState.OFF
if (
(self.CP.flags & GMFlags.PEDAL_LONG.value) # Always cancel stock CC when using pedal interceptor
or (self.CP.flags & GMFlags.CC_LONG.value and not CC.enabled) # Cancel stock CC if OP is not active
) and CS.out.cruiseState.enabled:
) and stock_cc_active:
if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
# Match 33 Hz cadence (every 3 frames) and align phase to the last seen checksum.
if self.malibu_cancel_frame % 3 == 0: