mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-07-01 19:42:07 +08:00
Code Issues Packages Projects Releases Wiki Activity

blaze

Browse Source
This commit is contained in:
firestar5683
2026-02-19 13:19:35 -06:00
parent fdcab8d127
commit d082aa8a3c
1 changed files with 6 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/gm/carstate.py
+6 -4
View File
@@ -97,7 +97,9 @@ class CarState(CarStateBase):
else:
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL2"]["PRNDL2"], None))
if self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value:
no_accel_pos = bool(self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value)
if no_accel_pos:
if self.CP.carFingerprint in kaofui_state_cars:
ret.brake = pt_cp.vl.get("EBCMBrakePedalPosition", {}).get("BrakePedalPosition", 0) / 0xd0
else:
@@ -107,8 +109,8 @@ class CarState(CarStateBase):
ret.brake = pt_cp.vl.get("ECMAcceleratorPos", {}).get("BrakePedalPos", 0)
else:
ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_CC:
# Malibu CC: keep strict opgm behavior using BrakePedalPos >= 8.
if self.CP.carFingerprint in {CAR.CHEVROLET_MALIBU_CC} or (self.CP.carFingerprint == CAR.CHEVROLET_BLAZER and not no_accel_pos):
ret.brakePressed = ret.brake >= 8
elif (self.CP.flags & GMFlags.FORCE_BRAKE_C9.value) or ((self.CP.networkLocation == NetworkLocation.fwdCamera) and (self.CP.carFingerprint != CAR.CHEVROLET_BLAZER)):
ret.brakePressed = pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0
@@ -117,7 +119,7 @@ class CarState(CarStateBase):
# that the brake is being intermittently pressed without user interaction.
# To avoid a cruise fault we need to use a conservative brake position threshold
# https://static.nhtsa.gov/odi/tsbs/2017/MC-10137629-9999.pdf
analog_thresh = 0.10 if (self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value) else 8
analog_thresh = 0.10 if no_accel_pos else 8
ret.brakePressed = ret.brake >= analog_thresh
# Regen braking is braking