GM: Auto-resume from stop-and-go #356
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Just verified this on my own branch. Works great! |
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| @@ -133,12 +130,18 @@ def update(self, sendcan, enabled, CS, frame, actuators, \ | |||
| if (frame % 4) == 0: | |||
| idx = (frame / 4) % 4 | |||
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| at_full_stop = enabled and CS.standstill | |||
| near_stop = enabled and (CS.v_ego < P.NEAR_STOP_BRAKE_PHASE) | |||
| car_stopping = apply_gas < P.ZERO_GAS | |||
rbiasini
Sep 9, 2018
Contributor
what happens if you are stopping uphill and apply_gas remains positive?
what happens if you are stopping uphill and apply_gas remains positive?
vntarasov
Sep 9, 2018
Author
ah, didn't think of that (didn't test it on very steep hills)
ah, didn't think of that (didn't test it on very steep hills)
Jamezz
Sep 9, 2018
This is a fundamental issue with openpilot's interface design. The stopping intent is never passed up to an interface.
This is a fundamental issue with openpilot's interface design. The stopping intent is never passed up to an interface.
vntarasov
Sep 10, 2018
Author
Another problem is that GM interface doesn't know if car is moving forward or backwards.
Another problem is that GM interface doesn't know if car is moving forward or backwards.
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Will reopen when steep hill logic (stopping with positive gas) is figured out. |
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Through resetting ACC (stopping sending ACC commands until it gets out of standstill) mode and immediately resuming. No need to press resume button anymore!
Piggybacking on @Jamezz's work on smoother braking from #326.