Now Mary's In

opendbc_repo/opendbc/car/gm/carcontroller.py

@@ -218,7 +218,7 @@ def get_volt_one_pedal_target_decel(v_ego: float) -> float:
 def should_activate_volt_one_pedal(one_pedal_ready: bool, cruise_main: bool, long_active: bool,
                                    gas_pressed: bool, brake_pressed: bool, regen_braking: bool,
                                    single_pedal_mode: bool, gear_shifter, drive_time_s: float) -> bool:
-  # Volt rear wheel direction bits can falsely report reverse while stopping in L.
+
   return (
     one_pedal_ready and
     cruise_main and
@@ -227,8 +227,22 @@ def should_activate_volt_one_pedal(one_pedal_ready: bool, cruise_main: bool, lon
     drive_time_s >= AUTO_HOLD_MIN_DRIVE_TIME_S and
     not long_active and
     not gas_pressed and
-    not brake_pressed and
-    not regen_braking
+    not brake_pressed
+  )
+
+
+def should_suppress_volt_stock_long_pre_drive(CP, gear_shifter, enabled: bool) -> bool:
+  return (
+    CP.carFingerprint in AUTO_HOLD_VOLT_CARS and
+    gear_shifter not in AUTO_HOLD_DRIVE_GEARS and
+    not enabled
+  )
+
+
+def should_suppress_volt_stock_cancel_in_park(CP, gear_shifter) -> bool:
+  return (
+    CP.carFingerprint in AUTO_HOLD_VOLT_CARS and
+    gear_shifter not in AUTO_HOLD_DRIVE_GEARS
   )
 
 
@@ -870,7 +884,13 @@ class CarController(CarControllerBase):
           else:
             acc_engaged = CC.enabled
 
-          if auto_hold_active:
+          skip_volt_stock_long_pre_drive = should_suppress_volt_stock_long_pre_drive(
+            self.CP, CS.out.gearShifter, CC.enabled
+          )
+
+          if skip_volt_stock_long_pre_drive:
+            CS.auto_hold_engaged = False
+          elif auto_hold_active:
             hold_brake = max(self.volt_one_pedal_brake, self.auto_hold_brake or estimate_auto_hold_brake(CS.out.brake, self.apply_brake))
             hold_standstill = CS.pcm_acc_status == AccState.STANDSTILL
             hold_near_stop = CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE
@@ -991,7 +1011,10 @@ class CarController(CarControllerBase):
 
       # While car is braking, cancel button causes ECM to enter a soft disable state with a fault status.
       # A delayed cancellation allows camera to cancel and avoids a fault when user depresses brake quickly
-      self.cancel_counter = self.cancel_counter + 1 if CC.cruiseControl.cancel else 0
+      if should_suppress_volt_stock_cancel_in_park(self.CP, CS.out.gearShifter):
+        self.cancel_counter = 0
+      else:
+        self.cancel_counter = self.cancel_counter + 1 if CC.cruiseControl.cancel else 0
 
       # Stock longitudinal, integrated at camera
       if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC and self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES:

opendbc_repo/opendbc/car/gm/tests/test_carcontroller.py

@@ -48,6 +48,8 @@ from opendbc.car.gm.carcontroller import (
   should_activate_volt_one_pedal,
   should_neutralize_volt_long_on_driver_override,
   should_send_stock_long_cancel,
+  should_suppress_volt_stock_cancel_in_park,
+  should_suppress_volt_stock_long_pre_drive,
   should_spoof_dash_speed,
   should_spoof_ecm_cruise_status,
   supports_volt_auto_hold,
@@ -408,7 +410,7 @@ def test_volt_one_pedal_activation_requires_main_l_mode_and_no_driver_input():
     structs.CarState.GearShifter.low,
     3.0,
   )
-  assert not should_activate_volt_one_pedal(
+  assert should_activate_volt_one_pedal(
     True,
     True,
     False,
@@ -452,6 +454,20 @@ def test_volt_one_pedal_regression_ignores_noisy_wheel_direction_bits():
   )
 
 
+def test_volt_one_pedal_regression_stays_active_through_l_mode_regen_state():
+  assert should_activate_volt_one_pedal(
+    True,
+    True,
+    False,
+    False,
+    False,
+    True,
+    True,
+    structs.CarState.GearShifter.manumatic,
+    3.0,
+  )
+
+
 def test_volt_one_pedal_requires_time_in_drive_before_arming():
   assert not should_activate_volt_one_pedal(
     True,
@@ -504,6 +520,21 @@ def test_volt_driver_override_neutralization_skips_pedal_and_non_volt_paths():
   )
 
 
+def test_volt_stock_long_pre_drive_is_suppressed_outside_drive_gears():
+  CP = SimpleNamespace(carFingerprint=CAR.CHEVROLET_VOLT_2019)
+
+  assert should_suppress_volt_stock_long_pre_drive(CP, structs.CarState.GearShifter.park, False)
+  assert not should_suppress_volt_stock_long_pre_drive(CP, structs.CarState.GearShifter.drive, False)
+  assert not should_suppress_volt_stock_long_pre_drive(CP, structs.CarState.GearShifter.park, True)
+
+
+def test_volt_stock_cancel_is_suppressed_outside_drive_gears():
+  CP = SimpleNamespace(carFingerprint=CAR.CHEVROLET_VOLT_2019)
+
+  assert should_suppress_volt_stock_cancel_in_park(CP, structs.CarState.GearShifter.park)
+  assert not should_suppress_volt_stock_cancel_in_park(CP, structs.CarState.GearShifter.low)
+
+
 def test_friction_brake_mode_keeps_near_stop_disabled_for_regular_long_braking():
   CP = SimpleNamespace(carFingerprint=CAR.CHEVROLET_VOLT_ASCM)