GM: reduce LKAS faults while inactive (#26196)

* send at 10hz when inactive

* try to make it fine to switch rates

* fix rate

* todododo

* fine if we skip, we usually send too early

* clean up

* this may be required, 50Hz is not really needed to sync/initialize

* preserves previous behavior (not sure if this makes sense)

* Revert "preserves previous behavior (not sure if this makes sense)"

This reverts commit 3b297bca72307b5cba09bec4e2cd8e0f2761af42.

* Revert "this may be required, 50Hz is not really needed to sync/initialize"

This reverts commit a6b4693814214d3f508db922f3b371c402a13995.

* rm com

* Update ref_commit

* gate behind GM Cam

* common logic

* bet

* update refs
old-commit-hash: 27e315e58f

selfdrive/car/gm/carcontroller.py

@@ -22,6 +22,7 @@ class CarController:
     self.apply_gas = 0
     self.apply_brake = 0
     self.frame = 0
+    self.last_steer_frame = 0
     self.last_button_frame = 0
     self.cancel_counter = 0
 
@@ -46,15 +47,21 @@ class CarController:
     # Send CAN commands.
     can_sends = []
 
-    # Steering (50Hz)
+    # Steering (Active: 50Hz, inactive: 10Hz)
+    # Attempt to sync with camera on startup at 50Hz, first few msgs are blocked
+    init_lka_counter = not self.sent_lka_steering_cmd and self.CP.networkLocation == NetworkLocation.fwdCamera
+    steer_step = self.params.INACTIVE_STEER_STEP
+    if CC.latActive or init_lka_counter:
+      steer_step = self.params.ACTIVE_STEER_STEP
+
     # Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we just received the
     # next Panda loopback confirmation in the current CS frame.
     if CS.loopback_lka_steering_cmd_updated:
       self.lka_steering_cmd_counter += 1
       self.sent_lka_steering_cmd = True
-    elif (self.frame % self.params.STEER_STEP) == 0:
+    elif (self.frame - self.last_steer_frame) >= steer_step:
-      # Initialize ASCMLKASteeringCmd counter using the camera
+      # Initialize ASCMLKASteeringCmd counter using the camera until we get a msg on the bus
-      if not self.sent_lka_steering_cmd and self.CP.networkLocation == NetworkLocation.fwdCamera:
+      if init_lka_counter:
         self.lka_steering_cmd_counter = CS.camera_lka_steering_cmd_counter + 1
 
       if CC.latActive:
@@ -63,6 +70,7 @@ class CarController:
       else:
         apply_steer = 0
 
+      self.last_steer_frame = self.frame
       self.apply_steer_last = apply_steer
       idx = self.lka_steering_cmd_counter % 4
       can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, CC.latActive))

selfdrive/car/gm/values.py

@@ -11,7 +11,8 @@ Ecu = car.CarParams.Ecu
 
 class CarControllerParams:
   STEER_MAX = 300  # GM limit is 3Nm. Used by carcontroller to generate LKA output
-  STEER_STEP = 2  # Control frames per command (50hz)
+  ACTIVE_STEER_STEP = 2  # Active control frames per command (50hz)
+  INACTIVE_STEER_STEP = 10  # Inactive control frames per command (10hz)
   STEER_DELTA_UP = 7  # Delta rates require review due to observed EPS weakness
   STEER_DELTA_DOWN = 17
   STEER_DRIVER_ALLOWANCE = 50

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-a5c77655fba5563e8128fb655f69b1bbd02198aa
+9d042d06f61c8f48e8c7a4e30001630c14712272