clean up

clean up

selfdrive/car/gm/carcontroller.py

@@ -116,7 +116,7 @@ class CarController:
     lka_critical = lka_active and abs(actuators.steer) > 0.9
     lka_icon_status = (lka_active, lka_critical)
 
-    # SW_GMLAN not yet on cam harness
+    # SW_GMLAN not yet on cam harness, no HUD alerts
     if self.CP.networkLocation != NetworkLocation.fwdCamera and (self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last):
       steer_alert = hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw)
       can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer_alert))

selfdrive/car/gm/interface.py

@@ -55,16 +55,16 @@ class CarInterface(CarInterfaceBase):
     else:
       ret.transmissionType = TransmissionType.automatic
 
-    if candidate in CAMERA_ACC_CAR:  # non-ASCM, camera integration
-      ret.openpilotLongitudinalControl = False  # stock ACC
+    if candidate in CAMERA_ACC_CAR:
+      ret.openpilotLongitudinalControl = False
       ret.networkLocation = NetworkLocation.fwdCamera
       ret.radarOffCan = True  # no radar
       ret.pcmCruise = True
     else:  # ASCM, OBD-II harness
+      ret.openpilotLongitudinalControl = True
       ret.networkLocation = NetworkLocation.gateway
       ret.radarOffCan = False
-      ret.openpilotLongitudinalControl = True
-      ret.pcmCruise = False  # For ASCM, stock non-adaptive cruise control is kept off
+      ret.pcmCruise = False  # stock non-adaptive cruise control is kept off
 
     # These cars have been put into dashcam only due to both a lack of users and test coverage.
     # These cars likely still work fine. Once a user confirms each car works and a test route is
@@ -89,8 +89,6 @@ class CarInterface(CarInterfaceBase):
 
     # supports stop and go, but initial engage must (conservatively) be above 18mph
     ret.minEnableSpeed = 18 * CV.MPH_TO_MS
-    # TODO: Should this be changed to -1?
-    #       Newer cars (that are still ASCM-based) use -1 for minEnableSpeed with the comment "engage speed is decided by pcm"
 
     if candidate == CAR.VOLT:
       ret.mass = 1607. + STD_CARGO_KG
@@ -163,9 +161,7 @@ class CarInterface(CarInterfaceBase):
       tire_stiffness_factor = 1.0
       ret.steerActuatorDelay = 0.2
 
-    # Set Panda to camera forwarding mode
     if ret.networkLocation == NetworkLocation.fwdCamera:
-      # TODO: Depends on Panda PR #962 (Cam Harness forwarding, stock ACC)
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
 
     # TODO: get actual value, for now starting with reasonable value for

selfdrive/car/gm/values.py

@@ -10,11 +10,6 @@ Ecu = car.CarParams.Ecu
 
 
 class CarControllerParams:
-  # TODO: Different cars have different min steer speed, usually around 3-5 mph
-  # TODO: Delta up and down limits may require adjustment based on excessive rate limiting
-  # TODO: Min steer speed seems to be about 3 MPH; may differ per car
-  # TODO: Unsure of driver values
-  # TODO: MAX_GAS, ZERO_GAS and MAX_BRAKE, MAX_ACC_REGEN are based on a specific volt year...
   STEER_MAX = 300  # GM limit is 3Nm. Used by carcontroller to generate LKA output
   STEER_STEP = 2  # Control frames per command (50hz)
   STEER_DELTA_UP = 7  # Delta rates require review due to observed EPS weakness