From 98d6ee1d8f714d4ad43e3e24aac90d67bce745a8 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Sun, 1 Jun 2025 00:15:36 -0500
Subject: [PATCH] 15ms

---
 selfdrive/car/gm/carcontroller.py | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index 81e951b1b..6ae47a5b7 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -173,21 +173,21 @@ class CarController(CarControllerBase):
       # Midpoint spoof: one per interval
       if not self.spoof_mid_sent and interval_ns > 0:
         midpoint_ns = self.prev_steer_ts_ns + interval_ns // 2
-        if now_nanos >= midpoint_ns and now_nanos - self.last_steer_ts_ns >= 11_000_000:
+        if now_nanos >= midpoint_ns and now_nanos - self.last_steer_ts_ns >= 15_000_000:
           paddle_sends.append(gmcan.create_prndl2_command(self.packer_pt, CanBus.POWERTRAIN, True))
           paddle_sends.append(gmcan.create_regen_paddle_command(self.packer_pt, CanBus.POWERTRAIN, True))
           self.last_spoof_ts_ns = now_nanos
           self.spoof_mid_sent = True
 
       # Overflow spoof: insert extra when accumulator allows
-      if self.spoof_accum >= 1.0 and not self.spoof_over_sent and interval_ns > 0:
+      if self.spoof_accum >= 0.6 and not self.spoof_over_sent and interval_ns > 0:
         slot2_ns = self.prev_steer_ts_ns + (interval_ns * 2) // 3
-        if now_nanos >= slot2_ns and now_nanos - self.last_steer_ts_ns >= 11_000_000:
+        if now_nanos >= slot2_ns and now_nanos - self.last_steer_ts_ns >= 15_000_000:
           paddle_sends.append(gmcan.create_prndl2_command(self.packer_pt, CanBus.POWERTRAIN, True))
           paddle_sends.append(gmcan.create_regen_paddle_command(self.packer_pt, CanBus.POWERTRAIN, True))
           self.last_spoof_ts_ns = now_nanos
           self.spoof_over_sent = True
-          self.spoof_accum -= 1.0
+          self.spoof_accum -= 0.6
     # === End Spoof scheduling ===
 
     # === Off-pulse scheduling on regen release ===
@@ -203,7 +203,7 @@ class CarController(CarControllerBase):
 
     if hasattr(self, "off_schedule_ns"):
       for i, t_ns in enumerate(self.off_schedule_ns):
-        if not self.off_sent[i] and now_nanos >= t_ns and now_nanos - self.last_steer_ts_ns >= 11_000_000:
+        if not self.off_sent[i] and now_nanos >= t_ns and now_nanos - self.last_steer_ts_ns >= 15_000_000:
           paddle_sends.append(gmcan.create_prndl2_command(self.packer_pt, CanBus.POWERTRAIN, False))
           paddle_sends.append(gmcan.create_regen_paddle_command(self.packer_pt, CanBus.POWERTRAIN, False))
           self.off_sent[i] = True
@@ -255,8 +255,8 @@ class CarController(CarControllerBase):
 
     # Merge paddle spoof CAN frames, time-guarded only
     if paddle_sends:
-      # wait at least 11 ms after the last bus0 steer send
-      if now_nanos - self.last_steer_ts_ns >= 11_000_000:
+      # wait at least 15 ms after the last bus0 steer send
+      if now_nanos - self.last_steer_ts_ns >= 15_000_000:
         can_sends.extend(paddle_sends)
 
     if self.CP.openpilotLongitudinalControl: