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Cruise Fault?

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firestar5683
2025-10-03 16:07:08 -05:00
parent 9b7bef0877
commit ac72c0e2c0
2 changed files with 9 additions and 9 deletions
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panda/board/safety/safety_gm.h
+2 -2
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@@ -10,14 +10,14 @@ const SteeringLimits GM_STEERING_LIMITS = {
};
const LongitudinalLimits GM_ASCM_LONG_LIMITS = {
.max_gas = 7168,
.max_gas = 8191,
.min_gas = 5500,
.inactive_gas = 5500,
.max_brake = 400,
};
const LongitudinalLimits GM_CAM_LONG_LIMITS = {
.max_gas = 7496,
.max_gas = 8848,
.min_gas = 5610,
.inactive_gas = 5650,
.max_brake = 400,
selfdrive/car/gm/values.py
+7 -7
View File
@@ -42,13 +42,13 @@ class CarControllerParams:
self.MAX_BRAKE = 400 # ~ -4.0 m/s^2 with regen
if CP.carFingerprint in CAMERA_ACC_CAR and CP.carFingerprint not in CC_ONLY_CAR:
self.MAX_GAS = 7496
self.MAX_GAS = 8848
self.MAX_GAS_PLUS = 8848
self.MAX_ACC_REGEN = 5610
self.INACTIVE_REGEN = 5650
# Camera ACC vehicles have no regen while enabled.
# Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
self.max_regen_acceleration = 0.
max_regen_acceleration = 0.
self.BRAKE_SWITCH_MAX = self.MAX_ACC_REGEN if CP.carFingerprint in EV_CAR else self.ZERO_GAS
elif CP.carFingerprint in SDGM_CAR:
@@ -56,21 +56,21 @@ class CarControllerParams:
self.MAX_GAS_PLUS = 7496
self.MAX_ACC_REGEN = 5610
self.INACTIVE_REGEN = 5650
self.max_regen_acceleration = 0.
max_regen_acceleration = 0.
self.BRAKE_SWITCH = self.ZERO_GAS
else:
self.MAX_GAS = 7168 # Safety limit, not ACC max. Stock ACC >8192 from standstill.
self.MAX_GAS = 8191 # Safety limit, not ACC max. Stock ACC >8192 from standstill.
self.MAX_GAS_PLUS = 8191 # 8292 uses new bit, possible but not tested. Matches Twilsonco tw-main max
self.MAX_ACC_REGEN = 7110 # Max ACC regen is slightly less than max paddle regen
self.INACTIVE_REGEN = 5500
# ICE has much less engine braking force compared to regen in EVs,
# lower threshold removes some braking deadzone
self.max_regen_acceleration = -3. if CP.carFingerprint in EV_CAR else -0.1
max_regen_acceleration = -3. if CP.carFingerprint in EV_CAR else -0.1
self.BRAKE_SWITCH_MAX = self.MAX_ACC_REGEN if CP.carFingerprint in EV_CAR else self.ZERO_GAS
self.GAS_LOOKUP_BP = [self.max_regen_acceleration, 0., self.ACCEL_MAX]
self.GAS_LOOKUP_BP_PLUS = [self.max_regen_acceleration, 0., self.ACCEL_MAX_PLUS]
self.GAS_LOOKUP_BP = [max_regen_acceleration, 0., self.ACCEL_MAX]
self.GAS_LOOKUP_BP_PLUS = [max_regen_acceleration, 0., self.ACCEL_MAX_PLUS]
self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS]
self.GAS_LOOKUP_V_PLUS = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS_PLUS]