From d7a487ad6a3cdd6d6a3fa2c8d46a95f4a4bd2862 Mon Sep 17 00:00:00 2001 From: firestar5683 <168790843+firestar5683@users.noreply.github.com> Date: Fri, 30 May 2025 11:19:47 -0500 Subject: [PATCH] 9ms --- selfdrive/car/gm/carcontroller.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index 53002dbed..51be0d43e 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -173,7 +173,7 @@ class CarController(CarControllerBase): # Midpoint spoof: one per interval if not self.spoof_mid_sent and interval_ns > 0: midpoint_ns = self.prev_steer_ts_ns + interval_ns // 2 - if now_nanos >= midpoint_ns and now_nanos - self.last_steer_ts_ns >= 8_000_000: + if now_nanos >= midpoint_ns and now_nanos - self.last_steer_ts_ns >= 9_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 @@ -182,7 +182,7 @@ class CarController(CarControllerBase): # Overflow spoof: insert extra when accumulator allows if self.spoof_accum >= 0.8 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 >= 8_000_000: + if now_nanos >= slot2_ns and now_nanos - self.last_steer_ts_ns >= 9_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 @@ -203,7 +203,7 @@ class CarController(CarControllerBase): if hasattr(self, "off_schedule_ns"): for i, t_ns in enumerate(self.off_schedule_ns): - if not self.off_sent[i] and now_nanos >= t_ns and now_nanos - self.last_steer_ts_ns >= 8_000_000: + if not self.off_sent[i] and now_nanos >= t_ns and now_nanos - self.last_steer_ts_ns >= 9_000_000: paddle_sends.append(gmcan.create_prndl2_command(self.packer_pt, CanBus.POWERTRAIN, False)) paddle_sends.append(gmcan.create_regen_paddle_command(self.packer_pt, CanBus.POWERTRAIN, False)) self.off_sent[i] = True @@ -255,8 +255,8 @@ class CarController(CarControllerBase): # Merge paddle spoof CAN frames, time-guarded only if paddle_sends: - # wait at least 8 ms after the last bus0 steer send - if now_nanos - self.last_steer_ts_ns >= 8_000_000: + # wait at least 9 ms after the last bus0 steer send + if now_nanos - self.last_steer_ts_ns >= 9_000_000: can_sends.extend(paddle_sends) if self.CP.openpilotLongitudinalControl: