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GM: Add Stock FCW to CarState (#1228) 

* GM: Add Stock FCW to CarState

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garrettpall 2024-11-21 17:25:42 -05:00 committed by GitHub
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commit 70009fed0c
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opendbc/car/gm/carstate.py
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@ -124,6 +124,8 @@ class CarState(CarStateBase):
ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
if self.CP.networkLocation == NetworkLocation.fwdCamera:
ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
# This FCW signal only works for SDGM cars. CAM cars send FCW on GMLAN but this bit is always 0 for them
ret.stockFcw = cam_cp.vl["ASCMActiveCruiseControlStatus"]["FCWAlert"] != 0
if self.CP.carFingerprint not in SDGM_CAR:
ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0
# openpilot controls nonAdaptive when not pcmCruise