Update carcontroller.py

selfdrive/car/gm/carcontroller.py

@@ -63,13 +63,6 @@ class CarController(CarControllerBase):
     self.aego = 0.0
     self.regen_paddle_timer = 0
 
-    # Smoothing state for paddle blending
-    self.prev_regen_paddle_pressed = False
-    self.regen_paddle_pressed_changed = False
-    self.regen_paddle_pressed_changed_counter = 0
-    self.prev_pedal_gas = 0.0
-
-
     # Midpoint + overflow spoof accumulator and flags
     self.spoof_accum = 0.0
     self.spoof_mid_sent = False
@@ -92,13 +85,9 @@ class CarController(CarControllerBase):
     # else: hold timer between -0.7 and -0.3
 
     # Base paddle press hysteresis
-    self.regen_paddle_pressed = self.regen_paddle_timer >= 30  # 30 frames
+    self.regen_paddle_pressed = self.regen_paddle_timer >= 20  # 30 frames
     press_regen_paddle = self.regen_paddle_pressed
 
-    # Detect press/release edges for smoothing
-    self.regen_paddle_pressed_changed = (self.regen_paddle_pressed != self.prev_regen_paddle_pressed)
-    self.prev_regen_paddle_pressed = self.regen_paddle_pressed
-
     # Regen gain ratios from bin-averaged 60–0 deceleration sweep; Calculates stronger decel from paddle
     speed_mps = [0.559, 1.678, 2.797, 3.916, 5.035, 6.154, 7.273, 8.392, 9.511, 10.63,
                  11.749, 12.868, 13.987, 15.106, 16.225, 17.344, 18.463, 19.582, 20.701, 21.820,
@@ -116,10 +105,9 @@ class CarController(CarControllerBase):
 
     # --- 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])
+    # Safety cap: ramp from 22% at 0 m/s to 37.25% at 10 mph (4.47 m/s), then allow full throttleAdd commentMore actions
+    pedal_gas_max = interp(car_velocity, [0.0, 4.47, 4.48], [0.22, 0.3725, 1.0])
     pedal_gas = clip(pedal_gas, 0.0, pedal_gas_max)
-    self.prev_pedal_gas = pedal_gas
     return pedal_gas, press_regen_paddle
 
 
@@ -144,7 +132,7 @@ class CarController(CarControllerBase):
       self.CP.openpilotLongitudinalControl and
       CC.longActive and
       self.CP.enableGasInterceptor and
-      self.regen_paddle_timer >= 30  # raw hysteresis-only
+      self.regen_paddle_timer >= 20  # raw hysteresis-only
     )
     regen_active = raw_regen_active