From 7512d184bccf5e70d72b56b1724e79dcde5ae10d Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 14 Oct 2022 16:54:13 -0700
Subject: [PATCH] GM camera ACC: raise brake pressed threshold (#26081)

* Different brake pressed thresholds

* comment

* bump to master
old-commit-hash: 91a7bb4ea3f01f40a7d8e88e857d60ef090dad2c
---
 panda                        | 2 +-
 selfdrive/car/gm/carstate.py | 7 ++++++-
 2 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/panda b/panda
index c39528d299..5962bcd08a 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit c39528d299aae6a1ebbdbccddeae55bc76a534e3
+Subproject commit 5962bcd08ae4e7c5193535efb45cc9c39da52f54
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index f90b130d93..21eb440d7f 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -51,7 +51,12 @@ class CarState(CarStateBase):
     # To avoid a cruise fault we need to match the ECM's brake pressed signal and threshold
     # https://static.nhtsa.gov/odi/tsbs/2017/MC-10137629-9999.pdf
     ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
-    ret.brakePressed = ret.brake >= 8
+    if self.CP.networkLocation != NetworkLocation.fwdCamera:
+      ret.brakePressed = ret.brake >= 8
+    else:
+      # While car is braking, cancel button causes ECM to enter a soft disable state with a fault status.
+      # Match ECM threshold at a standstill to allow the camera to cancel earlier
+      ret.brakePressed = ret.brake >= 20
 
     # Regen braking is braking
     if self.CP.transmissionType == TransmissionType.direct: