From 7009381eb1e2cca3128aaba2921b017864e0636d Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 26 Aug 2024 22:26:32 -0700 Subject: [PATCH] Revert "GM: implement allow throttle/brakes" (#1187) Revert "GM: implement allow throttle/brakes (#1185)" This reverts commit 8e2037651e51ac63f4e92dfd65e416241b8cf9be. --- opendbc/car/gm/carcontroller.py | 5 +---- opendbc/car/structs.py | 3 --- 2 files changed, 1 insertion(+), 7 deletions(-) diff --git a/opendbc/car/gm/carcontroller.py b/opendbc/car/gm/carcontroller.py index 77f4ac9cde..0d006f8673 100644 --- a/opendbc/car/gm/carcontroller.py +++ b/opendbc/car/gm/carcontroller.py @@ -94,12 +94,9 @@ def update(self, CC, CS, now_nanos): self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V))) # Don't allow any gas above inactive regen while stopping # FIXME: brakes aren't applied immediately when enabling at a stop - if stopping or not actuators.allowThrottle: + if stopping: self.apply_gas = self.params.INACTIVE_REGEN - if not actuators.allowBrake: - self.apply_brake = 0 - idx = (self.frame // 4) % 4 at_full_stop = CC.longActive and CS.out.standstill diff --git a/opendbc/car/structs.py b/opendbc/car/structs.py index c5a7dfa72b..c375468353 100644 --- a/opendbc/car/structs.py +++ b/opendbc/car/structs.py @@ -220,9 +220,6 @@ class Actuators: steerOutputCan: float = auto_field() steeringAngleDeg: float = auto_field() - allowBrake: bool = auto_field() - allowThrottle: bool = auto_field() - curvature: float = auto_field() speed: float = auto_field() # m/s