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GM: allow enabling down to a stop for Silverado/Sierra (#28708)

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* Silverado: allow enable down to 0 without user brake

* update docs

* firmly

* better comments, fix docs

* revert docs
old-commit-hash: 82f2f9448b
This commit is contained in:
Shane Smiskol
2023-06-27 00:36:53 -07:00
committed by GitHub
parent 43dee7f6fb
commit cfe294dde0
1 changed files with 5 additions and 0 deletions
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5
selfdrive/car/gm/interface.py
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@@ -224,6 +224,11 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 16.3
ret.centerToFront = ret.wheelbase * 0.5
tire_stiffness_factor = 1.0
# On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop
# with foot on brake to allow engagement, but this platform only has that check in the camera.
# TODO: check if this is split by EV/ICE with more platforms in the future
if ret.openpilotLongitudinalControl:
ret.minEnableSpeed = -1.
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.EQUINOX: