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overflow 20ms

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firestar5683
2025-06-02 11:11:13 -05:00
parent 98d6ee1d8f
commit cf2d09c511
1 changed files with 3 additions and 3 deletions
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selfdrive/car/gm/carcontroller.py
+3 -3
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@@ -180,14 +180,14 @@ class CarController(CarControllerBase):
self.spoof_mid_sent = True
# Overflow spoof: insert extra when accumulator allows
if self.spoof_accum >= 0.6 and not self.spoof_over_sent and interval_ns > 0:
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 >= 15_000_000:
if now_nanos >= slot2_ns and now_nanos - self.last_steer_ts_ns >= 20_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
self.spoof_over_sent = True
self.spoof_accum -= 0.6
self.spoof_accum -= 0.5
# === End Spoof scheduling ===
# === Off-pulse scheduling on regen release ===