mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-07-01 11:32:21 +08:00
Code Issues Packages Projects Releases Wiki Activity

cancel acc bolt with pedal

Browse Source
This commit is contained in:
firestar5683
2026-02-14 23:01:09 -06:00
parent 2bbffc2a38
commit a1cd4954b1
1 changed files with 5 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/gm/carcontroller.py
+5 -3
View File
@@ -529,6 +529,8 @@ class CarController(CarControllerBase):
# 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.carFingerprint == CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL:
stock_cc_active = CS.out.cruiseState.enabled
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
@@ -543,7 +545,8 @@ class CarController(CarControllerBase):
else:
if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
self.last_button_frame = self.frame
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, (CS.buttons_counter + 1) % 4, CruiseButtons.CANCEL))
cancel_bus = CanBus.CAMERA if self.CP.carFingerprint == CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL else CanBus.POWERTRAIN
can_sends.append(gmcan.create_buttons(self.packer_pt, cancel_bus, (CS.buttons_counter + 1) % 4, CruiseButtons.CANCEL))
else:
# While car is braking, cancel button causes ECM to enter a soft disable state with a fault status.
@@ -563,8 +566,7 @@ class CarController(CarControllerBase):
elif self.CP.carFingerprint in SDGM_CAR and self.CP.carFingerprint not in (volt_like | {CAR.CHEVROLET_BLAZER, CAR.CHEVROLET_MALIBU_SDGM, CAR.CHEVROLET_TRAVERSE}):
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, CS.buttons_counter, CruiseButtons.CANCEL))
else:
cancel_bus = CanBus.POWERTRAIN if (self.CP.enableGasInterceptor and self.CP.carFingerprint == CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL) else CanBus.CAMERA
can_sends.append(gmcan.create_buttons(self.packer_pt, cancel_bus, CS.buttons_counter, CruiseButtons.CANCEL))
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
if self.CP.networkLocation == NetworkLocation.fwdCamera:
# Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1