volt tune / 2018 bolt tune

selfdrive/controls/tests/test_longcontrol.py

@@ -1,5 +1,7 @@
 from cereal import car
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState, long_control_state_trans
+import openpilot.selfdrive.controls.lib.longcontrol as longcontrol
+from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 
 
 
@@ -54,3 +56,22 @@ def test_starting():
   next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
                              should_stop=False, brake_pressed=False, cruise_standstill=False)
   assert next_state == LongCtrlState.pid
+
+
+def test_volt_testing_ground_handoff_freezes_integrator(monkeypatch):
+  CP = car.CarParams.new_message()
+  CP.brand = "gm"
+  CP.enableGasInterceptorDEPRECATED = True
+  CP.carFingerprint = "CHEVROLET_VOLT_ASCM"
+  CP.longitudinalTuning.kpBP = [0.0]
+  CP.longitudinalTuning.kpV = [0.1]
+  CP.longitudinalTuning.kiBP = [0.0]
+  CP.longitudinalTuning.kiV = [0.03]
+
+  monkeypatch.setattr(longcontrol.testing_ground, "use_2", True, raising=False)
+
+  lc = LongControl(CP)
+  freeze = lc._get_pedal_long_freeze(a_target=0.7, error=0.7, v_ego=8.0, accel_limits=(-3.0, 2.0))
+
+  assert freeze
+  assert lc.integrator_hold_frames > 0