From 96c923875b97a2632d44f0c032275cbc9d5830aa Mon Sep 17 00:00:00 2001 From: Vasily Tarasov Date: Fri, 21 Sep 2018 19:40:52 -0700 Subject: [PATCH] GM refactor (#374) --- selfdrive/car/gm/carcontroller.py | 16 +++++++--------- 1 file changed, 7 insertions(+), 9 deletions(-) diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index 0803932306..c844af3042 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -91,14 +91,11 @@ class CarController(object): ### STEER ### if (frame % P.STEER_STEP) == 0: - final_steer = actuators.steer if enabled else 0. - apply_steer = final_steer * P.STEER_MAX - - apply_steer = apply_std_steer_torque_limits(apply_steer, self.apply_steer_last, CS.steer_torque_driver, P) - lkas_enabled = enabled and not CS.steer_not_allowed and CS.v_ego > 3. - - if not lkas_enabled: + if lkas_enabled: + apply_steer = actuators.steer * P.STEER_MAX + apply_steer = apply_std_steer_torque_limits(apply_steer, self.apply_steer_last, CS.steer_torque_driver, P) + else: apply_steer = 0 self.apply_steer_last = apply_steer @@ -115,7 +112,7 @@ class CarController(object): if self.car_fingerprint == CAR.VOLT: # no output if not enabled, but keep sending keepalive messages - # threat pedals as one + # treat pedals as one final_pedal = actuators.gas - actuators.brake # *** apply pedal hysteresis *** @@ -123,7 +120,8 @@ class CarController(object): final_pedal, self.pedal_steady) if not enabled: - apply_gas = P.MAX_ACC_REGEN # TODO: do we really need to send max regen when not enabled? + # Stock ECU sends max regen when not enabled. + apply_gas = P.MAX_ACC_REGEN apply_brake = 0 else: apply_gas = int(round(interp(final_pedal, P.GAS_LOOKUP_BP, P.GAS_LOOKUP_V)))