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Update carcontroller.py

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firestar5683
2026-01-16 16:31:30 -06:00
parent 2361ad82c9
commit 91cb407979
1 changed files with 6 additions and 5 deletions
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selfdrive/car/gm/carcontroller.py
+6 -5
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@@ -59,6 +59,7 @@ class CarController(CarControllerBase):
self.params_ = Params()
self.malibu_cancel_phase = 0
self.malibu_cancel_last_ts = 0.0
self.malibu_cancel_frame = 0
self.packer_pt = CANPacker(DBC[self.CP.carFingerprint]['pt'])
self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar'])
@@ -296,15 +297,15 @@ class CarController(CarControllerBase):
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:
if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
# Match the car's 33 Hz cadence and align phase to the last seen checksum.
if (now_sec - self.malibu_cancel_last_ts) > 0.03:
self.malibu_cancel_last_ts = now_sec
# Match 33 Hz cadence (every 3 frames) and align phase to the last seen checksum.
if self.malibu_cancel_frame % 3 == 0:
phase_map = {175: 0, 1438: 1, 2701: 2, 3964: 3}
if CS.steering_button_checksum in phase_map:
self.malibu_cancel_phase = (phase_map[CS.steering_button_checksum] + 1) % 4
else:
self.malibu_cancel_phase = (self.malibu_cancel_phase + 1) % 4
can_sends.append(gmcan.create_buttons_malibu_cancel(CanBus.POWERTRAIN, self.malibu_cancel_phase))
self.malibu_cancel_frame += 1
else:
if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
self.last_button_frame = self.frame
@@ -318,14 +319,14 @@ class CarController(CarControllerBase):
# Stock longitudinal, integrated at camera
if self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES:
if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
if (now_sec - self.malibu_cancel_last_ts) > 0.03:
self.malibu_cancel_last_ts = now_sec
if self.malibu_cancel_frame % 3 == 0:
phase_map = {175: 0, 1438: 1, 2701: 2, 3964: 3}
if CS.steering_button_checksum in phase_map:
self.malibu_cancel_phase = (phase_map[CS.steering_button_checksum] + 1) % 4
else:
self.malibu_cancel_phase = (self.malibu_cancel_phase + 1) % 4
can_sends.append(gmcan.create_buttons_malibu_cancel(CanBus.POWERTRAIN, self.malibu_cancel_phase))
self.malibu_cancel_frame += 1
else:
if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
self.last_button_frame = self.frame