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FrogPilot community - Update CAMERA_ACC_CAR gas threshold

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Co-Authored-By: garrettpall <76917194+garrettpall@users.noreply.github.com>
This commit is contained in:
FrogAi 2024-05-13 15:54:30 -07:00
parent cd46b333c5
commit 2d0e58aae9
2 changed files with 2 additions and 2 deletions
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2
panda/board/safety/safety_gm.h
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@ -29,7 +29,7 @@ const int GM_STANDSTILL_THRSLD = 10; // 0.311kph
// panda interceptor threshold needs to be equivalent to openpilot threshold to avoid controls mismatches // panda interceptor threshold needs to be equivalent to openpilot threshold to avoid controls mismatches
// If thresholds are mismatched then it is possible for panda to see the gas fall and rise while openpilot is in the pre-enabled state // If thresholds are mismatched then it is possible for panda to see the gas fall and rise while openpilot is in the pre-enabled state
const int GM_GAS_INTERCEPTOR_THRESHOLD = 515; // (610 + 306.25) / 2 ratio between offset and gain from dbc file const int GM_GAS_INTERCEPTOR_THRESHOLD = 515; // (675 + 355) / 2 ratio between offset and gain from dbc file
#define GM_GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + (GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2U) // avg between 2 tracks #define GM_GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + (GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2U) // avg between 2 tracks
const CanMsg GM_ASCM_TX_MSGS[] = {{0x180, 0, 4}, {0x409, 0, 7}, {0x40A, 0, 7}, {0x2CB, 0, 8}, {0x370, 0, 6}, {0x200, 0, 6}, // pt bus const CanMsg GM_ASCM_TX_MSGS[] = {{0x180, 0, 4}, {0x409, 0, 7}, {0x40A, 0, 7}, {0x2CB, 0, 8}, {0x370, 0, 6}, {0x200, 0, 6}, // pt bus

2
selfdrive/car/gm/carstate.py
View File

@ -96,7 +96,7 @@ class CarState(CarStateBase):
if self.CP.enableGasInterceptor: if self.CP.enableGasInterceptor:
ret.gas = (pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2. ret.gas = (pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2.
threshold = 15 if self.CP.carFingerprint in CAMERA_ACC_CAR else 4 threshold = 10 if self.CP.carFingerprint in CAMERA_ACC_CAR else 4 # Panda 515 threshold = 10.88. Set lower to avoid panda blocking messages and GasInterceptor faulting.
ret.gasPressed = ret.gas > threshold ret.gasPressed = ret.gas > threshold
else: else:
ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254. ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254.