comment

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))
 

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"),