mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-08-31 13:13:44 +08:00
Code Issues Packages Projects Releases Wiki Activity

Update carcontroller.py

Browse Source
This commit is contained in:
firestar5683
2025-06-03 22:05:06 -05:00
parent 24f122b21e
commit a44a05fe7c
1 changed files with 9 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/gm/carcontroller.py
+9 -3
View File
@@ -170,10 +170,13 @@ class CarController(CarControllerBase):
# Accumulate extra spoofs needed above 33Hz base to reach 40Hz
self.spoof_accum += (40.0/33.0 - 1.0)
# Midpoint spoof: one per interval
# Midpoint spoof: one per interval; avoid sending if loopback stale
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 >= 15_000_000:
if (CS.loopback_lka_steering_cmd_ts_nanos != 0 and
now_nanos - CS.loopback_lka_steering_cmd_ts_nanos < 50_000_000 and
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
@@ -182,7 +185,10 @@ class CarController(CarControllerBase):
# Overflow spoof: insert extra when accumulator allows
if self.spoof_accum >= 0.5 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 >= 21_000_000:
if (CS.loopback_lka_steering_cmd_ts_nanos != 0 and
now_nanos - CS.loopback_lka_steering_cmd_ts_nanos < 50_000_000 and
now_nanos >= slot2_ns and
now_nanos - self.last_steer_ts_ns >= 22_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