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GM: Auto-resume from stop-and-go #356

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vntarasov
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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.

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Jamezz commented Sep 8, 2018

Just verified this on my own branch. Works great!

@vntarasov
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auto-resume

@@ -133,12 +130,18 @@ def update(self, sendcan, enabled, CS, frame, actuators, \
if (frame % 4) == 0:
idx = (frame / 4) % 4

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.

@vntarasov vntarasov closed this Sep 9, 2018
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3 participants