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Update carcontroller.py

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firestar5683
2025-05-26 23:36:51 -05:00
parent 2e08378857
commit bf7d305d0f
1 changed files with 6 additions and 2 deletions
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selfdrive/car/gm/carcontroller.py
+6 -2
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@@ -38,6 +38,7 @@ class CarController(CarControllerBase):
self.apply_speed = 0
self.frame = 0
self.last_steer_frame = 0
self.last_steer_ts_ns = 0
self.last_button_frame = 0
self.cancel_counter = 0
self.pedal_steady = 0.
@@ -185,8 +186,10 @@ class CarController(CarControllerBase):
# Merge paddle spoof CAN frames, but skip if too close to last steer
if paddle_sends:
# Skip on steer frame and the next frame (2-frame guard)
if not hasattr(self, "last_steer_frame") or self.frame not in (self.last_steer_frame, self.last_steer_frame + 1):
# Skip on steer frame + next frame, and wait 5 ms after steer send
if (not hasattr(self, "last_steer_frame")
or (self.frame not in (self.last_steer_frame, self.last_steer_frame + 1)
and (now_nanos - self.last_steer_ts_ns) >= 5_000_000)):
can_sends.extend(paddle_sends)
# === End guarded paddle-spoof merge ===
@@ -222,6 +225,7 @@ class CarController(CarControllerBase):
apply_steer = 0
self.last_steer_frame = self.frame
self.last_steer_ts_ns = now_nanos
self.apply_steer_last = apply_steer
idx = self.lka_steering_cmd_counter % 4
can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, CC.latActive))