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Tweak Volt's brake pedal stickiness

master
Vasily Tarasov 2018-03-04 00:28:54 -08:00
parent 1b7702626b
commit 2434f1cdab
1 changed files with 3 additions and 3 deletions
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6
board/safety/safety_gm.h
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@ -59,7 +59,7 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
int brake = (to_push->RDLR & 0xFF00) >> 8;
// Brake pedal's potentiometer returns near-zero reading
// even when pedal is not pressed
if (brake <= 5) {
if (brake < 10) {
brake = 0;
}
if (brake && (!gm_brake_prev || gm_speed)) {
@ -71,7 +71,7 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// exit controls on rising edge of gas press
if (addr == 417) {
int gas = to_push->RDHR & 0xFF0000;
if (gas && !(gm_gas_prev)) {
if (gas && !gm_gas_prev) {
controls_allowed = 0;
}
gm_gas_prev = gas;
@ -102,7 +102,7 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// disallow actuator commands if gas or brake (with vehicle moving) are pressed
// and the the latching controls_allowed flag is True
int pedal_pressed = gm_gas_prev || (gm_brake_prev && gm_speed);
int current_controls_allowed = controls_allowed && !(pedal_pressed);
int current_controls_allowed = controls_allowed && !pedal_pressed;
uint32_t addr;
if (to_send->RIR & 4) {