From ac88ad871a9fba9076eb4d02a57e34ad34839f59 Mon Sep 17 00:00:00 2001 From: Jason Shuler Date: Wed, 12 Oct 2022 17:02:01 -0400 Subject: [PATCH] GM: disable checks on loopback bus (#26015) * disabling checks on loopback bus * Apply suggestions from code review Co-authored-by: Shane Smiskol --- selfdrive/car/gm/carstate.py | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index 11c521e863..a5f89c58b0 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -177,9 +177,7 @@ class CarState(CarStateBase): ] checks = [ - ("ASCMLKASteeringCmd", 10), # 10 Hz is the stock inactive rate (every 100ms). - # While active 50 Hz (every 20 ms) is normal - # EPS will tolerate around 200ms when active before faulting + ("ASCMLKASteeringCmd", 0), ] - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.LOOPBACK) + return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.LOOPBACK, enforce_checks=False)