From 9b1f36c9db68b3b454672f57b20c29500b85c7d7 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Wed, 5 Nov 2025 23:32:36 -0600
Subject: [PATCH] Pedal Toggle

---
 common/params.cc                            | 1 +
 frogpilot/common/frogpilot_variables.py     | 3 +++
 frogpilot/ui/qt/offroad/vehicle_settings.cc | 5 +++++
 frogpilot/ui/qt/offroad/vehicle_settings.h  | 2 +-
 selfdrive/car/gm/interface.py               | 2 +-
 5 files changed, 11 insertions(+), 2 deletions(-)

diff --git a/common/params.cc b/common/params.cc
index 7ef44cbf5..1d45baff9 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -346,6 +346,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"FrogsGoMoosTweak", PERSISTENT},
     {"FullMap", PERSISTENT},
     {"GasRegenCmd", PERSISTENT},
+    {"GMPedalLongitudinal", PERSISTENT},
     {"GoatScream", PERSISTENT},
     {"GreenLightAlert", PERSISTENT},
     {"HideAlerts", PERSISTENT},
diff --git a/frogpilot/common/frogpilot_variables.py b/frogpilot/common/frogpilot_variables.py
index 25005724f..c73ff5d47 100644
--- a/frogpilot/common/frogpilot_variables.py
+++ b/frogpilot/common/frogpilot_variables.py
@@ -229,6 +229,7 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("FrogsGoMoosTweak", "1", 2, "0"),
   ("FullMap", "0", 2, "0"),
   ("GasRegenCmd", "1", 2, "0"),
+  ("GMPedalLongitudinal", "1", 2, "1"),
   ("GithubSshKeys", "", 0, ""),
   ("GithubUsername", "", 0, ""),
   ("GoatScream", "0", 1, "0"),
@@ -974,5 +975,7 @@ class FrogPilotVariables:
 
     toggle.volt_sng = toggle.car_model == "CHEVROLET_VOLT" and (params.get_bool("VoltSNG") if tuning_level >= level["VoltSNG"] else default.get_bool("VoltSNG"))
 
+    toggle.gm_pedal_longitudinal = params.get_bool("GMPedalLongitudinal") if tuning_level >= level["GMPedalLongitudinal"] else default.get_bool("GMPedalLongitudinal")
+
     params_memory.put("FrogPilotToggles", json.dumps(toggle.__dict__))
     params_memory.remove("FrogPilotTogglesUpdated")
diff --git a/frogpilot/ui/qt/offroad/vehicle_settings.cc b/frogpilot/ui/qt/offroad/vehicle_settings.cc
index 39821fd99..9ecfa3a75 100644
--- a/frogpilot/ui/qt/offroad/vehicle_settings.cc
+++ b/frogpilot/ui/qt/offroad/vehicle_settings.cc
@@ -168,6 +168,7 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(FrogPilotSettingsWindow *parent)
   std::vector<std::tuple<QString, QString, QString, QString>> vehicleToggles {
     {"GMToggles", tr("General Motors Settings"), tr("<b>FrogPilot features for General Motors vehicles.</b>"), ""},
     {"ExperimentalGMTune", tr("FrogsGoMoo's Experimental Tune"), tr("<b>Experimental GM tune by FrogsGoMoo</b> that attempts to smoothen stopping and takeoff control. Use at your own risk!"), ""},
+    {"GMPedalLongitudinal", tr("Use Pedal for Longitudinal Control"), tr("<b>Use the pedal interceptor for longitudinal control</b> instead of camera ACC/Redneck when available."), ""},
     {"LongPitch", tr("Smooth Pedal Response on Hills"), tr("<b>Smoothen acceleration and braking</b> when driving downhill/uphill."), ""},
     {"VoltSNG", tr("Stop-and-Go Hack"), tr("<b>Force stop-and-go</b> on the 2017 Chevy Volt."), ""},
 
@@ -403,6 +404,10 @@ void FrogPilotVehiclesPanel::updateToggles() {
       setVisible &= isHKGCanFd;
     }
 
+    else if (key == "GMPedalLongitudinal") {
+      setVisible &= hasPedal;
+    }
+
     else if (key == "VoltSNG") {
       setVisible &= isVolt && !hasSNG;
     }
diff --git a/frogpilot/ui/qt/offroad/vehicle_settings.h b/frogpilot/ui/qt/offroad/vehicle_settings.h
index 403e545a2..dd94a4f70 100644
--- a/frogpilot/ui/qt/offroad/vehicle_settings.h
+++ b/frogpilot/ui/qt/offroad/vehicle_settings.h
@@ -36,7 +36,7 @@ private:
 
   std::map<QString, AbstractControl*> toggles;
 
-  QSet<QString> gmKeys = {"ExperimentalGMTune", "LongPitch", "VoltSNG"};
+  QSet<QString> gmKeys = {"ExperimentalGMTune", "GMPedalLongitudinal", "LongPitch", "VoltSNG"};
   QSet<QString> hkgKeys = {"NewLongAPI", "TacoTuneHacks"};
   QSet<QString> longitudinalKeys = {"ExperimentalGMTune", "FrogsGoMoosTweak", "LongPitch", "NewLongAPI", "SNGHack", "VoltSNG"};
   QSet<QString> toyotaKeys = {"ClusterOffset", "FrogsGoMoosTweak", "LockDoorsTimer", "SNGHack", "ToyotaDoors"};
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 046cc7bd5..f2675fe1c 100644
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -263,7 +263,7 @@ class CarInterface(CarInterfaceBase):
     elif candidate == CAR.CHEVROLET_TRAX:
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    if ret.enableGasInterceptor:
+    if ret.enableGasInterceptor and frogpilot_toggles.gm_pedal_longitudinal:
       ret.networkLocation = NetworkLocation.fwdCamera
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
       ret.minEnableSpeed = -1