stop distance

frogpilot/common/frogpilot_variables.py

@@ -577,6 +577,7 @@ class FrogPilotVariables:
     toggle.has_cc_long = toggle.car_make == "gm" and bool(CP.flags & GMFlags.CC_LONG.value)
     has_nnff = nnff_supported(toggle.car_model)
     toggle.has_pedal = CP.enableGasInterceptor
+    params_default.put("IncreasedStoppedDistance", "4" if toggle.has_pedal else "0")
     has_radar = not CP.radarUnavailable
     toggle.has_sdsu = toggle.car_make == "toyota" and bool(CP.flags & ToyotaFlags.SMART_DSU.value)
     toggle.has_sascm = toggle.car_make == "gm" and bool(CP.flags & GMFlags.SASCM.value)

selfdrive/car/gm/interface.py

@@ -45,6 +45,7 @@ BOLT_PEDAL_LONG_CARS = {
   CAR.CHEVROLET_BOLT_CC_2019_2021,
   CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
   CAR.CHEVROLET_BOLT_CC_2022_2023,
+  CAR.CHEVROLET_MALIBU_HYBRID_CC,
 }
 
 NON_LINEAR_TORQUE_PARAMS = {
@@ -502,7 +503,7 @@ class CarInterface(CarInterfaceBase):
         ret.flags |= GMFlags.PEDAL_LONG.value
         gm_safety_cfg.safetyParam |= Panda.FLAG_GM_PEDAL_LONG
         # Note: Low speed, stop and go not tested. Should be fairly smooth on highway
-        if candidate in (CAR.CHEVROLET_MALIBU_CC, CAR.CHEVROLET_MALIBU_HYBRID_CC):
+        if candidate == CAR.CHEVROLET_MALIBU_CC:
           ret.longitudinalTuning.kpBP = [0.0, 5.0, 35.0]
           ret.longitudinalTuning.kpV = [0.06, 0.05, 0.04]
           ret.longitudinalTuning.kiBP = [0.0, 5., 35.]
@@ -533,11 +534,12 @@ class CarInterface(CarInterfaceBase):
     if ret.enableGasInterceptor and candidate == CAR.CHEVROLET_MALIBU_HYBRID_CC:
       ret.flags |= GMFlags.PEDAL_LONG.value
       gm_safety_cfg.safetyParam |= Panda.FLAG_GM_PEDAL_LONG
-      ret.longitudinalTuning.kpBP = [0.0, 5.0, 35.0]
-      ret.longitudinalTuning.kpV = [0.06, 0.05, 0.04]
-      ret.longitudinalTuning.kiBP = [0.0, 5., 35.]
-      ret.longitudinalTuning.kiV = [0.0, 0.30, 0.45]
-      ret.longitudinalTuning.kfDEPRECATED = 0.15
+      # Keep Malibu Hybrid pedal on the same longitudinal tune as Bolt pedal cars.
+      ret.longitudinalTuning.kpBP = [0.0, 5.0, 15.0, 35.0]
+      ret.longitudinalTuning.kpV = [0.095, 0.085, 0.065, 0.050]
+      ret.longitudinalTuning.kiBP = [0.0, 3.0, 6.0, 35.0]
+      ret.longitudinalTuning.kiV = [0.07, 0.10, 0.15, 0.24]
+      ret.longitudinalTuning.kfDEPRECATED = 0.20
       ret.stoppingDecelRate = 0.8
       ret.minEnableSpeed = -1
       ret.pcmCruise = False

system/manager/manager.py

@@ -5,7 +5,7 @@ import signal
 import sys
 import traceback
 
-from cereal import log
+from cereal import car, log
 import cereal.messaging as messaging
 import openpilot.system.sentry as sentry
 from openpilot.common.params import Params, ParamKeyType
@@ -53,10 +53,24 @@ def manager_init() -> None:
   if params.get_bool("RecordFrontLock"):
     params.put_bool("RecordFront", True)
 
+  # Detect pedal capability for pedal-specific defaults/migrations.
+  has_pedal = False
+  cp_persistent_bytes = params.get("CarParamsPersistent")
+  if cp_persistent_bytes is not None:
+    try:
+      with car.CarParams.from_bytes(cp_persistent_bytes) as cp_reader:
+        has_pedal = cp_reader.enableGasInterceptor
+    except Exception:
+      cloudlog.exception("failed parsing CarParamsPersistent for pedal defaults")
+
   # set unset params
   reset_toggles = params.get_bool("DoToggleReset")
   reset_toggles_stock = params.get_bool("DoToggleResetStock")
   for k, v, stock in [(k, v, v) for k, v in default_params] + [(k, v, stock) for k, v, _, stock in frogpilot_default_params]:
+    if has_pedal and k == "IncreasedStoppedDistance":
+      v = "4"
+      stock = "4"
+
     if (reset_toggles or reset_toggles_stock) and k in EXCLUDED_KEYS:
       continue
 
@@ -239,6 +253,16 @@ def manager_init() -> None:
     with open(lateral_tuning_migration_flag_file, "w") as f:
       f.write("migrated")
 
+  # One-time migration: default IncreasedStoppedDistance to 4 ft for pedal cars
+  pedal_stop_distance_migration_flag_file = "/data/frogpilot_pedal_stop_distance_migrated.flag"
+  if not os.path.exists(pedal_stop_distance_migration_flag_file):
+    if has_pedal:
+      if params.get_int("IncreasedStoppedDistance") != 4:
+        params.put_int("IncreasedStoppedDistance", 4)
+        params_cache.put_int("IncreasedStoppedDistance", 4)
+      with open(pedal_stop_distance_migration_flag_file, "w") as f:
+        f.write("migrated")
+
   # set dongle id
   reg_res = register(show_spinner=True)
   if reg_res: