Silverado

selfdrive/car/gm/interface.py

@@ -111,12 +111,11 @@ class CarInterface(CarInterfaceBase):
     ret.longitudinalTuning.kiBP = [5., 35., 60.]
 
     if candidate in CAMERA_ACC_CAR:
-      # For ACC models with pedal interceptor, behave like CC_ONLY_CAR
-      ret.experimentalLongitudinalAvailable = (candidate not in CC_ONLY_CAR) and not ret.enableGasInterceptor
+      ret.experimentalLongitudinalAvailable = candidate not in CC_ONLY_CAR
       ret.networkLocation = NetworkLocation.fwdCamera
       ret.radarUnavailable = True  # no radar
-      # Only use pcmCruise if no pedal interceptor (bolt_cc style behavior)
-      ret.pcmCruise = not ret.enableGasInterceptor
+      # Use pcmCruise by default; this may be overridden below if a pedal interceptor is detected
+      ret.pcmCruise = True
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
       # Use default minEnableSpeed for ACC models (will be overridden by pedal interceptor section if present)
       ret.minEnableSpeed = 5 * CV.KPH_TO_MS
@@ -210,13 +209,7 @@ class CarInterface(CarInterfaceBase):
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
       ret.lateralTuning.torque.kp = 1.0
 
-    # Enable pedal interceptor for ACC models when detected
-    if candidate in CAMERA_ACC_CAR and ret.enableGasInterceptor:
-      # ACC models with pedal interceptor get full pedal longitudinal control
-      ret.flags |= GMFlags.PEDAL_LONG.value
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_ACC
-
-    elif candidate == CAR.CHEVROLET_SILVERADO:
+    if candidate == CAR.CHEVROLET_SILVERADO:
       # On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop
       # with foot on brake to allow engagement, but this platform only has that check in the camera.
       # TODO: check if this is split by EV/ICE with more platforms in the future