GM: Auto-resume from stop-and-go #356
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Just verified this on my own branch. Works great! |
vntarasov
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rbiasini
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Sep 9, 2018
| @@ -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 | |||
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what happens if you are stopping uphill and apply_gas remains positive?
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ah, didn't think of that (didn't test it on very steep hills)
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This is a fundamental issue with openpilot's interface design. The stopping intent is never passed up to an interface.
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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.