GM: signed wheel speeds (#33697)

* signed wheel speeds

* clean up

* bump to master

* bump to master again

* did a sanity check for negative vego

* bump

selfdrive/car/car_specific.py

@@ -119,9 +119,8 @@ class CarSpecificEvents:
 
       # Enabling at a standstill with brake is allowed
       # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
-      below_min_enable_speed = CS.out.vEgo < self.CP.minEnableSpeed or CS.moving_backward  # type: ignore[attr-defined]
-      if below_min_enable_speed and not (CS.out.standstill and CS.out.brake >= 20 and
-                                         self.CP.networkLocation == NetworkLocation.fwdCamera):
+      if CS.out.vEgo < self.CP.minEnableSpeed and not (CS.out.standstill and CS.out.brake >= 20 and
+                                                       self.CP.networkLocation == NetworkLocation.fwdCamera):
         events.add(EventName.belowEngageSpeed)
       if CS.out.cruiseState.standstill:
         events.add(EventName.resumeRequired)

selfdrive/controls/controlsd.py

@@ -87,7 +87,7 @@ class Controls:
     CC.enabled = self.sm['selfdriveState'].enabled
 
     # Check which actuators can be enabled
-    standstill = CS.vEgo <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill
+    standstill = abs(CS.vEgo) <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill
     CC.latActive = self.sm['selfdriveState'].active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and not standstill
     CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and self.CP.openpilotLongitudinalControl
 

selfdrive/selfdrived/selfdrived.py

@@ -334,7 +334,7 @@ class SelfdriveD:
         self.events.add(EventName.noGps)
       if gps_ok:
         self.distance_traveled = 0
-      self.distance_traveled += CS.vEgo * DT_CTRL
+      self.distance_traveled += abs(CS.vEgo) * DT_CTRL
 
       if self.sm['modelV2'].frameDropPerc > 20:
         self.events.add(EventName.modeldLagging)