From dd76cfcf28f95354e78abc5786db0cef75cb23cf Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 10 Feb 2022 13:08:19 -0800 Subject: [PATCH] GM: Fix noisy brake pressed (#23712) * GM: Use ECMEngineStatus.Brake_Pressed * consistent style * add TODO * bump panda bump panda * it should * bump panda Co-authored-by: Jason Shuler Co-authored-by: Adeeb Shihadeh --- selfdrive/car/gm/carstate.py | 10 ++++------ 1 file changed, 4 insertions(+), 6 deletions(-) diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index 134bd9d075..4a6b75fa3f 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -30,10 +30,8 @@ class CarState(CarStateBase): ret.standstill = ret.vEgoRaw < 0.01 ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL"]["PRNDL"], None)) + ret.brakePressed = pt_cp.vl["ECMEngineStatus"]["Brake_Pressed"] != 0 ret.brake = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] / 0xd0 - # Brake pedal's potentiometer returns near-zero reading even when pedal is not pressed. - if ret.brake < 10/0xd0: - ret.brake = 0. ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254. ret.gasPressed = ret.gas > 1e-5 @@ -62,14 +60,13 @@ class CarState(CarStateBase): ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2 self.park_brake = pt_cp.vl["EPBStatus"]["EPBClosed"] - ret.cruiseState.available = bool(pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"]) + ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0 ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1 self.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] - ret.brakePressed = ret.brake > 1e-5 # Regen braking is braking if self.car_fingerprint == CAR.VOLT: - ret.brakePressed = ret.brakePressed or bool(pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"]) + ret.brakePressed = ret.brakePressed or pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0 ret.cruiseState.enabled = self.pcm_acc_status != AccState.OFF ret.cruiseState.standstill = self.pcm_acc_status == AccState.STANDSTILL @@ -104,6 +101,7 @@ class CarState(CarStateBase): ("TractionControlOn", "ESPStatus"), ("EPBClosed", "EPBStatus"), ("CruiseMainOn", "ECMEngineStatus"), + ("Brake_Pressed", "ECMEngineStatus"), ] checks = [