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no pedal long pitch

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This commit is contained in:
firestar5683
2026-03-25 22:11:40 -05:00
parent 8b02280419
commit 310d852cf3
1 changed files with 5 additions and 3 deletions
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opendbc_repo/opendbc/car/gm/carcontroller.py
+5 -3
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@@ -371,9 +371,11 @@ class CarController(CarControllerBase):
self.apply_brake = int(min(-100 * stop_accel, self.params.MAX_BRAKE))
else:
long_pitch_enabled = bool(getattr(frogpilot_toggles, "long_pitch", True))
pedal_long_path = bool(self.CP.enableGasInterceptorDEPRECATED and (self.CP.flags & GMFlags.PEDAL_LONG.value))
long_pitch_for_powertrain = long_pitch_enabled and not pedal_long_path
if self.is_volt:
if long_pitch_enabled and len(CC.orientationNED) == 3 and CS.out.vEgo > self.CP.vEgoStopping:
if long_pitch_for_powertrain and len(CC.orientationNED) == 3 and CS.out.vEgo > self.CP.vEgoStopping:
volt_pitch_accel = math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY
else:
volt_pitch_accel = 0.0
@@ -397,7 +399,7 @@ class CarController(CarControllerBase):
if self.apply_brake > 0:
self.apply_gas = self.params.INACTIVE_REGEN
else:
if long_pitch_enabled and len(CC.orientationNED) == 3 and CS.out.vEgo > self.CP.vEgoStopping:
if long_pitch_for_powertrain and len(CC.orientationNED) == 3 and CS.out.vEgo > self.CP.vEgoStopping:
accel_due_to_pitch = math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY
else:
accel_due_to_pitch = 0.0
@@ -427,7 +429,7 @@ class CarController(CarControllerBase):
if self.CP.carFingerprint in CC_ONLY_CAR:
# gas interceptor only used for full long control on cars without ACC
pedal_accel_cmd = actuators.accel
if (long_pitch_enabled and
if (long_pitch_for_powertrain and
len(CC.orientationNED) == 3 and CS.out.vEgo > self.CP.vEgoStopping):
pedal_accel_cmd += math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY