GM: Resume Required Alert should be triggered off of ECM state (#1045)
* Resume Required Alert should be triggered off of ECM state On GM cars the ECM goes into cruise state 4 (standstill) and in order for the ECM to accept cruise inputs, the resume button must be pressed to drive it to state 1 (active). Previously rather than testing for if the ECM was in state 4, the wheel speed sensors were checked that the vehicle was going less than 0.5 m/s. In some cases this could cause the resume required alert to be displayed before the car actually came to a stop as far as the ECM was concerned. If the alert is triggered before state 4 and OP demands acceleration, its possible for OP to acelerate while the Resume Required Alert is displayed created a very confusing UX. * After more review, the problem was actually with the 'if at_full_stop' check was inside an else statement preventing entering the stopped mode if braking is 0albatross
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@ -67,8 +67,8 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_f
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else:
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mode = 0xa
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if at_full_stop:
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mode = 0xd
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if at_full_stop:
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mode = 0xd
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# TODO: this is to have GM bringing the car to complete stop,
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# but currently it conflicts with OP controls, so turned off.
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#elif near_stop:
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