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CT6 TESTING

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This commit is contained in:
luckylz2git
2024-09-26 18:19:38 +08:00
parent 4535e313c5
commit 55caeb729d
1 changed files with 12 additions and 10 deletions
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selfdrive/car/gm/carstate.py
+12 -10
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@@ -179,11 +179,12 @@ class CarState(CarStateBase):
if self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.flags & GMFlags.NO_CAMERA.value:
if self.CP.carFingerprint not in CC_ONLY_CAR:
ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
if self.CP.carFingerprint not in SDGM_CAR:
ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0
else:
ret.stockAeb = False
# openpilot controls nonAdaptive when not pcmCruise
##### CT6 TESTING
##### if self.CP.carFingerprint not in SDGM_CAR:
##### ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0
##### else:
##### ret.stockAeb = False
##### openpilot controls nonAdaptive when not pcmCruise
if self.CP.pcmCruise:
ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3)
if self.CP.carFingerprint in CC_ONLY_CAR:
@@ -302,11 +303,12 @@ class CarState(CarStateBase):
if CP.enableBsm:
messages.append(("BCMBlindSpotMonitor", 10))
else:
messages += [
("AEBCmd", 10),
# ("ECMPRDNL2", 10), #10Hz # ONSTAR_GPS_TEST
]
##### CT6 TESTING
##### else:
##### messages += [
##### ("AEBCmd", 10),
##### # ("ECMPRDNL2", 10), #10Hz # ONSTAR_GPS_TEST
##### ]
if CP.carFingerprint not in CC_ONLY_CAR:
messages += [
("ASCMActiveCruiseControlStatus", 25),