Merge branch 'kegman-devel' of https://github.com/kegman/openpilot in…

…to kegman-devel
cfranyota · Dec 20, 2018 · 612695b · 612695b
2 parents 6531ed2 + 88a3d43
commit 612695b
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Showing 2 changed files with 8 additions and 2 deletions.
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
@@ -278,7 +278,6 @@ def update(self, cp, cp_cam):
 
     self.steer_torque_driver = cp.vl["STEER_STATUS"]['STEER_TORQUE_SENSOR']
     self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD[self.CP.carFingerprint]
-
     self.brake_switch = cp.vl["POWERTRAIN_DATA"]['BRAKE_SWITCH']
 
     if self.CP.radarOffCan:
@@ -305,13 +304,20 @@ def update(self, cp, cp_cam):
       self.brake_pressed = cp.vl["POWERTRAIN_DATA"]['BRAKE_PRESSED'] or \
                          (self.brake_switch and self.brake_switch_prev and \
                          cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH'] != self.brake_switch_ts)
+
       self.brake_switch_prev = self.brake_switch
       self.brake_switch_ts = cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH']
 
     self.user_brake = cp.vl["VSA_STATUS"]['USER_BRAKE']
     self.pcm_acc_status = cp.vl["POWERTRAIN_DATA"]['ACC_STATUS']
     self.hud_lead = cp.vl["ACC_HUD"]['HUD_LEAD']
 
+    # gets rid of Pedal Grinding noise
+    if self.user_brake > 0.05 or self.brake_pressed:
+      self.brake_pressed = 1
+    else:
+      self.brake_pressed = 0
+
     # when user presses distance button on steering wheel
     if self.cruise_setting == 3:
       if cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"] == 0:

diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
@@ -12,7 +12,7 @@
 
 STOPPING_BRAKE_RATE = 0.2  # brake_travel/s while trying to stop
 STARTING_BRAKE_RATE = 0.8  # brake_travel/s while releasing on restart
-BRAKE_STOPPING_TARGET = 0.1  # apply at least this amount of brake to maintain the vehicle stationary
+BRAKE_STOPPING_TARGET = 0.25  # apply at least this amount of brake to maintain the vehicle stationary
 
 _MAX_SPEED_ERROR_BP = [0., 30.]  # speed breakpoints
 _MAX_SPEED_ERROR_V = [1.5, .8]  # max positive v_pid error VS actual speed; this avoids controls windup due to slow pedal resp