diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index 0e74065143..04212f27df 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -68,6 +68,7 @@ class CarController: self.apply_gas = self.params.MAX_ACC_REGEN self.apply_brake = 0 else: + # ICE has less engine braking force, adjust thresholds to remove braking deadzone if self.CP.carFingerprint in EV_CAR: self.apply_gas = int(round(interp(actuators.accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V))) self.apply_brake = int(round(interp(actuators.accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V))) diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index d4cd8fda95..da42e21f74 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -41,9 +41,9 @@ class CarControllerParams: # much less engine braking force compared to regen in an EV GAS_LOOKUP_BP = [-0.1, 0., ACCEL_MAX] - EV_GAS_LOOKUP_BP = [-1.1, 0., ACCEL_MAX] - BRAKE_LOOKUP_BP = [ACCEL_MIN, -0.1] + + EV_GAS_LOOKUP_BP = [-1.1, 0., ACCEL_MAX] EV_BRAKE_LOOKUP_BP = [ACCEL_MIN, -1.1] GAS_LOOKUP_V = [MAX_ACC_REGEN, ZERO_GAS, MAX_GAS]