diff --git a/frogpilot/common/frogpilot_variables.py b/frogpilot/common/frogpilot_variables.py
index b91ca57de..63ae0040b 100644
--- a/frogpilot/common/frogpilot_variables.py
+++ b/frogpilot/common/frogpilot_variables.py
@@ -1002,6 +1002,7 @@ class FrogPilotVariables:
 
     volt_models = {
       "CHEVROLET_VOLT",
+      "CHEVROLET_VOLT_2019",
       "CHEVROLET_VOLT_ASCM",
       "CHEVROLET_VOLT_CAMERA",
     }
diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin
index 8efaaee50..8ff046882 100755
Binary files a/panda/board/obj/bootstub.panda.bin and b/panda/board/obj/bootstub.panda.bin differ
diff --git a/panda/board/obj/bootstub.panda_h7.bin b/panda/board/obj/bootstub.panda_h7.bin
index 2bc4c10dc..2ed656a52 100755
Binary files a/panda/board/obj/bootstub.panda_h7.bin and b/panda/board/obj/bootstub.panda_h7.bin differ
diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed
index 1877c532a..1a28efa33 100644
Binary files a/panda/board/obj/panda.bin.signed and b/panda/board/obj/panda.bin.signed differ
diff --git a/panda/board/obj/panda_h7.bin.signed b/panda/board/obj/panda_h7.bin.signed
index 9065a076f..99011df36 100644
Binary files a/panda/board/obj/panda_h7.bin.signed and b/panda/board/obj/panda_h7.bin.signed differ
diff --git a/panda/board/safety/safety_gm.h b/panda/board/safety/safety_gm.h
index be2cb7adc..1e0ebb326 100644
--- a/panda/board/safety/safety_gm.h
+++ b/panda/board/safety/safety_gm.h
@@ -10,14 +10,14 @@ const SteeringLimits GM_STEERING_LIMITS = {
 };
 
 const LongitudinalLimits GM_ASCM_LONG_LIMITS = {
-  .max_gas = 7168,
+  .max_gas = 8191,
   .min_gas = 5500,
   .inactive_gas = 5500,
   .max_brake = 400,
 };
 
 const LongitudinalLimits GM_CAM_LONG_LIMITS = {
-  .max_gas = 7496,
+  .max_gas = 8848,
   .min_gas = 5610,
   .inactive_gas = 5650,
   .max_brake = 400,
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index cf1f68280..ec4432576 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -48,13 +48,12 @@ class CarController(CarControllerBase):
     self.lka_icon_status_last = (False, False)
 
     self.params = CarControllerParams(self.CP)
-    self.is_volt = self.CP.carFingerprint in (CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_ASCM, CAR.CHEVROLET_VOLT_CAMERA, CAR.CHEVROLET_VOLT_CC)
-    if self.is_volt:
-      self.mass = CP.mass
-      self.tireRadius = 0.075 * CP.wheelbase + 0.1453
-      self.frontalArea = 1.05 * CP.wheelbase + 0.0679
-      self.coeffDrag = 0.30
-      self.airDensity = 1.225
+    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)
+    self.mass = CP.mass
+    self.tireRadius = 0.075 * CP.wheelbase + 0.1453
+    self.frontalArea = 1.05 * CP.wheelbase + 0.0679
+    self.coeffDrag = 0.30
+    self.airDensity = 1.225
     self.params_ = Params()
 
     self.packer_pt = CANPacker(DBC[self.CP.carFingerprint]['pt'])
@@ -166,21 +165,46 @@ class CarController(CarControllerBase):
             accel = clip(accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
             brake_accel = clip(brake_accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
 
-          if self.CP.carFingerprint in EV_CAR:
-            self.params.update_ev_gas_brake_threshold(CS.out.vEgo)
-            self.apply_gas = int(round(interp(accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
-            self.apply_brake = int(round(interp(brake_accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
+            if self.CP.carFingerprint in EV_CAR:
+              self.params.update_ev_gas_brake_threshold(CS.out.vEgo)
+              self.apply_gas = int(round(interp(accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
+              self.apply_brake = int(round(interp(brake_accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
+            else:
+              self.apply_gas = int(round(interp(accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
+              self.apply_brake = int(round(interp(brake_accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
+
+            # Clamp within message-valid ranges to avoid ASCM faults from overshoot or rounding
+            self.apply_gas = int(round(clip(self.apply_gas, self.params.MAX_ACC_REGEN, self.params.MAX_GAS)))
+            self.apply_brake = int(round(clip(self.apply_brake, 0, self.params.MAX_BRAKE)))
+
+            if self.apply_brake > 0:
+              # Volt should never present positive torque alongside friction braking
+              self.apply_gas = self.params.INACTIVE_REGEN
           else:
-            self.apply_gas = int(round(interp(accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
+            if len(CC.orientationNED) == 3 and CS.out.vEgo > self.CP.vEgoStopping:
+              accel_due_to_pitch = math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY
+            else:
+              accel_due_to_pitch = 0.0
+
+            gas_max = self.params.MAX_GAS
+            accel_max = self.params.ACCEL_MAX
+
+            accel = clip(actuators.accel + accel_due_to_pitch, self.params.ACCEL_MIN, accel_max)
+            torque = self.tireRadius * ((self.mass * accel) + (0.5 * self.coeffDrag * self.frontalArea * self.airDensity * CS.out.vEgo ** 2))
+
+            scaled_torque = torque + self.params.ZERO_GAS
+            apply_gas_torque = clip(scaled_torque, self.params.MAX_ACC_REGEN, gas_max)
+            BRAKE_SWITCH = int(round(interp(CS.out.vEgo, self.params.BRAKE_SWITCH_LOOKUP_BP, self.params.BRAKE_SWITCH_LOOKUP_V)))
+            brake_accel = min((scaled_torque - BRAKE_SWITCH) / (self.tireRadius * self.mass), 0)
+            self.apply_gas = int(round(apply_gas_torque))
             self.apply_brake = int(round(interp(brake_accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
 
-          # Clamp within message-valid ranges to avoid ASCM faults from overshoot or rounding
-          self.apply_gas = int(round(clip(self.apply_gas, self.params.MAX_ACC_REGEN, self.params.MAX_GAS)))
-          self.apply_brake = int(round(clip(self.apply_brake, 0, self.params.MAX_BRAKE)))
+            # Clamp within message-valid ranges to avoid ASCM faults from overshoot or rounding
+            self.apply_gas = int(round(clip(self.apply_gas, self.params.MAX_ACC_REGEN, self.params.MAX_GAS)))
+            self.apply_brake = int(round(clip(self.apply_brake, 0, self.params.MAX_BRAKE)))
 
-          if self.is_volt and self.apply_brake > 0:
-            # Volt should never present positive torque alongside friction braking
-            self.apply_gas = self.params.INACTIVE_REGEN
+            if self.apply_brake > 0 and self.apply_gas > self.params.INACTIVE_REGEN:
+              self.apply_gas = self.params.INACTIVE_REGEN
           # Don't allow any gas above inactive regen while stopping
           # FIXME: brakes aren't applied immediately when enabling at a stop
           if stopping:
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index ed505e270..e566946fd 100644
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -148,12 +148,12 @@ class CarInterface(CarInterfaceBase):
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
 
       # Tuning for experimental long
-      ret.longitudinalTuning.kiV = [1.0, 1.0]
+      ret.longitudinalTuning.kiV = [0.5, 0.5]
 
       ret.stoppingDecelRate = 1.0  # reach brake quickly after enabling
       ret.vEgoStopping = 0.25
       ret.vEgoStarting = 0.25
-      ret.stopAccel = -0.20
+      ret.stopAccel = -0.25
 
       if ret.experimentalLongitudinalAvailable and experimental_long:
         ret.pcmCruise = False
diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
index 2e78cb4da..a3a5e513e 100644
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -38,12 +38,12 @@ class CarControllerParams:
 
   def __init__(self, CP):
     # Gas/brake lookups
-    self.ZERO_GAS = 6144  # Coasting
+    self.ZERO_GAS = 6150  # Coasting
     self.MAX_BRAKE = 400  # ~ -4.0 m/s^2 with regen
     self.BRAKE_SWITCH_MAX = self.ZERO_GAS
 
-    if CP.carFingerprint in (CAMERA_ACC_CAR | SDGM_CAR) and CP.carFingerprint not in CC_ONLY_CAR and CP.carFingerprint != CAR.CHEVROLET_BOLT_EUV:
-      self.MAX_GAS = 7496
+    if CP.carFingerprint in CAMERA_ACC_CAR and CP.carFingerprint not in CC_ONLY_CAR and CP.carFingerprint != CAR.CHEVROLET_BOLT_EUV:
+      self.MAX_GAS = 8848
       self.MAX_GAS_PLUS = 8848
       self.MAX_ACC_REGEN = 5610
       self.INACTIVE_REGEN = 5650
@@ -51,9 +51,17 @@ class CarControllerParams:
       # Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
       self.max_regen_acceleration = 0.
 
+    elif CP.carFingerprint in SDGM_CAR and CP.carFingerprint not in CC_ONLY_CAR and CP.carFingerprint != CAR.CHEVROLET_BOLT_EUV:
+      self.MAX_GAS = 8191
+      self.MAX_GAS_PLUS = 8191
+      self.MAX_ACC_REGEN = 5500
+      self.INACTIVE_REGEN = 5500
+      # SDGM integrations match the ASCM longitudinal envelope
+      self.max_regen_acceleration = 0.
+
     else:
-      self.MAX_GAS = 7168  # Safety limit, not ACC max. Stock ACC >8192 from standstill.
-      self.MAX_GAS_PLUS = 8191 # 8292 uses new bit, possible but not tested. Matches Twilsonco tw-main max
+      self.MAX_GAS = 8191  # Safety limit, not ACC max. Stock ACC >8192 from standstill.
+      self.MAX_GAS_PLUS = 8191
       self.MAX_ACC_REGEN = 5500  # Max ACC regen is slightly less than max paddle regen
       self.INACTIVE_REGEN = 5500
       # ICE has much less engine braking force compared to regen in EVs,