comment

3 years ago · db0dfcb5c8
parent 833557901b
commit db0dfcb5c8
2 changed files with 2 additions and 1 deletions
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@ -108,6 +108,7 @@ class CarController:
        can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)

    else:
+      # Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1
      if self.frame % 10 == 0:
        can_sends.append(gmcan.create_pscm_status(self.packer_pt, CS.pscm_status))

--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@ -124,9 +124,9 @@ class CarState(CarStateBase):
      ("ManualMode", "ECMPRDNL2"),
      ("LKADriverAppldTrq", "PSCMStatus"),
      ("LKATorqueDelivered", "PSCMStatus"),
+      ("LKATorqueDeliveredStatus", "PSCMStatus"),
      ("HandsOffSWlDetectionStatus", "PSCMStatus"),
      ("HandsOffSWDetectionMode", "PSCMStatus"),
-      ("LKATorqueDeliveredStatus", "PSCMStatus"),
      ("LKATotalTorqueDelivered", "PSCMStatus"),
      ("PSCMStatusChecksum", "PSCMStatus"),
      ("RollingCounter", "PSCMStatus"),