From d082aa8a3ce83bdd74903a347e6e3ab5cdaa9ace Mon Sep 17 00:00:00 2001 From: firestar5683 <168790843+firestar5683@users.noreply.github.com> Date: Thu, 19 Feb 2026 13:19:35 -0600 Subject: [PATCH] blaze --- selfdrive/car/gm/carstate.py | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index 361dcde55..f1e94af90 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -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