diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index cb1b1d4f7..07037a25b 100644 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -203,6 +203,13 @@ class CarInterface(CarInterfaceBase): CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) ret.lateralTuning.torque.kp = 0.6 + try: + disable_long = frogpilot_toggles.disable_openpilot_long + except AttributeError: + disable_long = params.get_bool("DisableOpenpilotLongitudinal") + + ret.openpilotLongitudinalControl = not disable_long + if ret.enableGasInterceptor: # ACC Bolts use pedal for full longitudinal control, not just sng ret.flags |= GMFlags.PEDAL_LONG.value