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GM: Lower LKA loopback CAN Error timing threshold to accommodate dropped packets (#24927)

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* LKA loopback timing to 10Hz

* Typo

Co-authored-by: Willem Melching <willem.melching@gmail.com>

Co-authored-by: Willem Melching <willem.melching@gmail.com>
old-commit-hash: 8b32e1b060e8c2c3c084393a569d4e78992ca598
This commit is contained in:
Jason Shuler
2022-06-30 18:26:25 -04:00
committed by GitHub
parent 4a09ab86ac
commit ce4ecc34d1
1 changed files with 3 additions and 1 deletions
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selfdrive/car/gm/carstate.py
+3 -1
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@@ -133,7 +133,9 @@ class CarState(CarStateBase):
]
checks = [
("ASCMLKASteeringCmd", 50),
("ASCMLKASteeringCmd", 10), # 10 Hz is the stock inactive rate (every 100ms).
# While active 50 Hz (every 20 ms) is normal
# EPS will tolerate around 200ms when active before faulting
]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.LOOPBACK)