From 19565e7acae0e0a341a89d08c701a7dae9645ac1 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Sat, 10 Jan 2026 00:13:29 -0600
Subject: [PATCH] Malibu Pedal Tuning

---
 selfdrive/car/gm/carcontroller.py |  3 +++
 selfdrive/car/gm/interface.py     | 11 +++++++++++
 2 files changed, 14 insertions(+)

diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index 34ddbf48c..f095c20ae 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -49,6 +49,8 @@ class CarController(CarControllerBase):
 
     self.params = CarControllerParams(self.CP)
     self.is_volt = self.CP.carFingerprint in (CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_VOLT_ASCM, CAR.CHEVROLET_VOLT_CAMERA, CAR.CHEVROLET_VOLT_CC)
+    # Malibu Hybrid CC pedal voltages are slightly higher than Bolt; scale down
+    self.pedal_scale = 0.96 if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC else 1.0
     self.mass = CP.mass
     self.tireRadius = 0.075 * CP.wheelbase + 0.1453
     self.frontalArea = 1.05 * CP.wheelbase + 0.0679
@@ -212,6 +214,7 @@ class CarController(CarControllerBase):
           if self.CP.carFingerprint in CC_ONLY_CAR:
             # gas interceptor only used for full long control on cars without ACC
             interceptor_gas_cmd = self.calc_pedal_command(actuators.accel, CC.longActive)
+            interceptor_gas_cmd = clip(interceptor_gas_cmd * self.pedal_scale, 0., 1.)
 
         if self.CP.enableGasInterceptor and self.apply_gas > self.params.INACTIVE_REGEN and CS.out.cruiseState.standstill:
           # "Tap" the accelerator pedal to re-engage ACC
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 91250ae78..04d0ccc5f 100644
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -326,6 +326,17 @@ class CarInterface(CarInterfaceBase):
         ret.vEgoStopping = 0.25
         ret.vEgoStarting = 0.25
 
+    if ret.enableGasInterceptor and candidate == CAR.CHEVROLET_MALIBU_HYBRID_CC:
+      ret.flags |= GMFlags.PEDAL_LONG.value
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_PEDAL_LONG
+      ret.longitudinalTuning.kiBP = [0.0, 5., 35.]
+      ret.longitudinalTuning.kiV = [0.0, 0.35, 0.5]
+      ret.longitudinalTuning.kfDEPRECATED = 0.15
+      ret.stoppingDecelRate = 0.8
+      ret.minEnableSpeed = -1
+      ret.pcmCruise = False
+      ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
+
 
     elif candidate in CC_ONLY_CAR:
       ret.flags |= GMFlags.CC_LONG.value