From ce4ecc34d1d839809bd53ded0e9d9f4fdad5b5a0 Mon Sep 17 00:00:00 2001 From: Jason Shuler Date: Thu, 30 Jun 2022 18:26:25 -0400 Subject: [PATCH] GM: Lower LKA loopback CAN Error timing threshold to accommodate dropped packets (#24927) * LKA loopback timing to 10Hz * Typo Co-authored-by: Willem Melching Co-authored-by: Willem Melching old-commit-hash: 8b32e1b060e8c2c3c084393a569d4e78992ca598 --- selfdrive/car/gm/carstate.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index 48b9f25444..3605dab486 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -133,7 +133,9 @@ class CarState(CarStateBase): ] checks = [ - ("ASCMLKASteeringCmd", 50), + ("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 ] return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.LOOPBACK)