volt

opendbc_repo/opendbc/car/gm/interface.py

@@ -568,15 +568,14 @@ class CarInterface(CarInterfaceBase):
 
     volt_test_tune_active = (
       testing_ground.use_2 and
-      ret.enableGasInterceptorDEPRECATED and
       ret.openpilotLongitudinalControl and
       candidate in VOLT_LONG_TEST_TUNE_CARS
     )
     if volt_test_tune_active:
-      # Volt interceptor-long currently falls back to an all-I tune on this path.
-      # The test-ground tune adds a modest P term, trims mid/high-speed I memory,
-      # and uses a dedicated starting state so stop-and-go launches do not wind
-      # up the PID.
+      # Volt long can still fall back to an all-I tune on both the interceptor and
+      # ASCM-int paths. The test-ground tune adds a modest P term, trims
+      # mid/high-speed I memory, and uses a dedicated starting state so
+      # stop-and-go launches do not wind up the PID.
       ret.longitudinalTuning.kpBP = [0.0, 4.0, 12.0, 35.0]
       ret.longitudinalTuning.kpV = [0.10, 0.072, 0.050, 0.040]
       ret.longitudinalTuning.kiBP = [0.0, 4.0, 12.0, 35.0]

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

@@ -57,10 +57,15 @@ class TestGMInterface:
 
     assert car_params.minSteerSpeed == pytest.approx(7 * CV.MPH_TO_MS)
 
-  def test_volt_testing_ground_tune_sets_nonzero_p_and_starting_state(self, monkeypatch):
+  @parameterized.expand([
+    ("interceptor", True),
+    ("ascm_int", False),
+  ])
+  def test_volt_testing_ground_tune_sets_nonzero_p_and_starting_state(self, _name, pedal_present, monkeypatch):
     CarInterface = interfaces[CAR.CHEVROLET_VOLT_ASCM]
     fingerprint = _empty_fingerprint()
-    fingerprint[0][0x201] = 8  # pedal detected
+    if pedal_present:
+      fingerprint[0][0x201] = 8  # pedal detected
     fingerprint[0][0x2FF] = 8  # SASCM detected
 
     monkeypatch.setattr(gm_interface.testing_ground, "use_2", True, raising=False)

selfdrive/controls/lib/longcontrol.py

@@ -118,8 +118,8 @@ class LongControl:
     self.is_gm_pedal_long = bool(
       CP.brand == "gm" and CP.enableGasInterceptorDEPRECATED and (CP.flags & GMFlags.PEDAL_LONG.value)
     )
-    self.is_volt_interceptor = bool(
-      CP.brand == "gm" and CP.enableGasInterceptorDEPRECATED and str(CP.carFingerprint).startswith("CHEVROLET_VOLT")
+    self.is_volt = bool(
+      CP.brand == "gm" and str(CP.carFingerprint).startswith("CHEVROLET_VOLT")
     )
 
   def update_mpc_mode(self, experimental_mode):
@@ -155,7 +155,7 @@ class LongControl:
     self.integrator_hold_frames = 0
 
   def _get_pedal_long_freeze(self, a_target, error, v_ego, accel_limits):
-    volt_test_tune_handoff = self.is_volt_interceptor and testing_ground.use_2
+    volt_test_tune_handoff = self.is_volt and testing_ground.use_2
 
     if not self.is_gm_pedal_long and not volt_test_tune_handoff:
       self.last_a_target = a_target
@@ -185,7 +185,7 @@ class LongControl:
     return self.integrator_hold_frames > 0 or sat_pushing_lower or sat_pushing_upper
 
   def _shape_volt_test_tune_integrator(self, error, v_ego):
-    if not (self.is_volt_interceptor and testing_ground.use_2):
+    if not (self.is_volt and testing_ground.use_2):
       return
 
     # Bleed stale I quickly when the target reverses against stored integrator.

selfdrive/controls/tests/test_longcontrol.py

@@ -142,3 +142,22 @@ def test_volt_testing_ground_handoff_freezes_integrator(monkeypatch):
 
   assert freeze
   assert lc.integrator_hold_frames > 0
+
+
+def test_non_interceptor_volt_testing_ground_handoff_freezes_integrator(monkeypatch):
+  CP = car.CarParams.new_message()
+  CP.brand = "gm"
+  CP.enableGasInterceptorDEPRECATED = False
+  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