mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-09-01 05:33:49 +08:00
Code Issues Packages Projects Releases Wiki Activity

More Malibu

Browse Source
This commit is contained in:
firestar5683
2026-01-14 23:35:45 -06:00
parent c1df1eaf2a
commit bc012595ca
1 changed files with 13 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/gm/carcontroller.py
+13 -13
View File
@@ -315,19 +315,19 @@ class CarController(CarControllerBase):
self.cancel_counter = self.cancel_counter + 1 if CC.cruiseControl.cancel else 0
# Stock longitudinal, integrated at camera
if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
if self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES:
self.last_button_frame = self.frame
if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
if (now_sec - self.malibu_cancel_last_ts) > 0.03:
self.malibu_cancel_last_ts = now_sec
phase_map = {175: 0, 1438: 1, 2701: 2, 3964: 3}
if CS.steering_button_checksum in phase_map:
self.malibu_cancel_phase = (phase_map[CS.steering_button_checksum] + 1) % 4
else:
self.malibu_cancel_phase = (self.malibu_cancel_phase + 1) % 4
can_sends.append(gmcan.create_buttons_malibu_cancel(CanBus.POWERTRAIN, self.malibu_cancel_phase))
else:
if self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES:
if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
if (now_sec - self.malibu_cancel_last_ts) > 0.03:
self.malibu_cancel_last_ts = now_sec
phase_map = {175: 0, 1438: 1, 2701: 2, 3964: 3}
if CS.steering_button_checksum in phase_map:
self.malibu_cancel_phase = (phase_map[CS.steering_button_checksum] + 1) % 4
else:
self.malibu_cancel_phase = (self.malibu_cancel_phase + 1) % 4
can_sends.append(gmcan.create_buttons_malibu_cancel(CanBus.POWERTRAIN, self.malibu_cancel_phase))
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.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
if self.CP.networkLocation == NetworkLocation.fwdCamera: