Nothing to see

This reverts commit 43332bf3b3.

frogpilot/controls/lib/conditional_experimental_mode.py

@@ -1,4 +1,6 @@
 #!/usr/bin/env python3
+import time
+
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import DT_MDL
 from openpilot.common.numpy_fast import interp
@@ -32,6 +34,10 @@ class ConditionalExperimentalMode:
   LIGHT_BOOST_LOW = 1.15
   LIGHT_BOOST_HIGH = 1.2
 
+  # Small latch to avoid frame-to-frame mode chatter.
+  CEM_TRANSITION_GUARD_TIME = 0.50
+  CEM_TRANSITION_BUFFER_TIME = 0.25
+
   @staticmethod
   def get_speed_based_param(speed_mph, param_array):
     """Get parameter value based on current speed using smooth interpolation between breakpoints [0, 35, 55, 70]"""
@@ -49,8 +55,12 @@ class ConditionalExperimentalMode:
     self.experimental_mode = False
     self.stop_light_detected = False
     self.prev_experimental_mode = False  # For hysteresis
+    self.mode_hold_until = 0.0
+    self.mode_false_since = 0.0
 
   def update(self, v_ego, sm, frogpilot_toggles):
+    now = time.monotonic()
+
     if frogpilot_toggles.experimental_mode_via_press:
       self.status_value = params_memory.get_int("CEStatus")
     else:
@@ -58,28 +68,23 @@ class ConditionalExperimentalMode:
 
     if self.status_value not in {1, 2} and not sm["carState"].standstill:
       self.update_conditions(v_ego, sm, frogpilot_toggles)
-      new_experimental_mode = self.check_conditions(v_ego, sm, frogpilot_toggles)
 
-      # Add hysteresis to prevent rapid toggling
-      if new_experimental_mode and not self.prev_experimental_mode:
-        # Require weaker conditions to turn on
-        hysteresis_factor = 0.9
-      elif not new_experimental_mode and self.prev_experimental_mode:
-        # Require stronger conditions to turn off
-        hysteresis_factor = 1.2
-      else:
-        hysteresis_factor = 1.0
+      triggered = self.check_conditions(v_ego, sm, frogpilot_toggles)
+      if triggered:
+        self.mode_hold_until = now + self.CEM_TRANSITION_GUARD_TIME
+        self.mode_false_since = 0.0
+      elif self.mode_false_since == 0.0:
+        self.mode_false_since = now
 
-      # Apply hysteresis to key conditions
-      if hasattr(self, 'slow_lead_detected'):
-        self.slow_lead_detected = self.slow_lead_detected if hysteresis_factor == 1.0 else (self.slow_lead_filter.x >= scale_threshold(v_ego) * hysteresis_factor)
-      if hasattr(self, 'curve_detected'):
-        self.curve_detected = self.curve_detected if hysteresis_factor == 1.0 else (self.curvature_filter.x >= THRESHOLD * hysteresis_factor)
+      hold_active = now < self.mode_hold_until
+      transition_buffer_active = self.mode_false_since != 0.0 and (now - self.mode_false_since) < self.CEM_TRANSITION_BUFFER_TIME
 
-      self.experimental_mode = self.check_conditions(v_ego, sm, frogpilot_toggles)
+      self.experimental_mode = triggered or hold_active or transition_buffer_active
       self.prev_experimental_mode = self.experimental_mode
       params_memory.put_int("CEStatus", self.status_value if self.experimental_mode else 0)
     else:
+      self.mode_hold_until = 0.0
+      self.mode_false_since = 0.0
       self.experimental_mode = self.status_value == 2 or sm["carState"].standstill and self.experimental_mode and self.frogpilot_planner.model_stopped
       self.stop_light_detected &= self.status_value not in {1, 2}
       self.stop_light_filter.x = 0

frogpilot/tinygrad_modeld/tinygrad_modeld.py

@@ -190,6 +190,8 @@ class ModelState:
     # Add policy_generation attribute after loading policy_metadata
     self.policy_generation = model_version or "v8"
     self.is_v11 = (self.policy_generation == "v11")
+    self.is_v10 = (self.policy_generation == "v10")
+    self.is_v12 = (self.policy_generation == "v12")
     self.is_v9 = (self.policy_generation == "v9")
     self.mlsim = (self.policy_generation in ("v8", "v10", "v11", "v12"))
 
@@ -328,14 +330,14 @@ class ModelState:
       self.full_prev_desired_curv[0,-1,:] = policy_outputs_dict['desired_curvature'][0, :]
 
       if self.prev_desired_curv_key is not None:
-        # v9 models expect zeros for prev_desired_curv(s); others use history
-        if self.is_v9:
+        # v9/v10/v11/v12 models expect zeros for prev_desired_curv(s); others use history
+        if self.is_v9 or self.is_v10 or self.is_v11 or self.is_v12:
           self.numpy_inputs[self.prev_desired_curv_key][:] = 0 * self.full_prev_desired_curv[0, self.temporal_idxs]
         else:
           self.numpy_inputs[self.prev_desired_curv_key][:] = self.full_prev_desired_curv[0, self.temporal_idxs]
 
       if self.off_policy_enabled and self.off_policy_prev_desired_curv_key is not None:
-        if self.is_v9:
+        if self.is_v9 or self.is_v12:
           self.off_policy_numpy_inputs[self.off_policy_prev_desired_curv_key][:] = 0 * self.full_prev_desired_curv[0, self.temporal_idxs]
         else:
           self.off_policy_numpy_inputs[self.off_policy_prev_desired_curv_key][:] = self.full_prev_desired_curv[0, self.temporal_idxs]

panda/board/safety/safety_gm.h

@@ -48,16 +48,16 @@ const CanMsg GM_ASCM_TX_MSGS[] = {{0x180, 0, 4}, {0x409, 0, 7}, {0x40A, 0, 7}, {
                                   {0xA1, 1, 7}, {0x306, 1, 8}, {0x308, 1, 7}, {0x310, 1, 2},   // obs bus
                                   {0x315, 2, 5}};  // ch bus
 
-const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4}, {0x200, 0, 6}, {0x1E1, 0, 7}, {0xBD, 0, 7}, {0x1F5, 0, 8}, // pt bus
+const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4}, {0x370, 0, 6}, {0x200, 0, 6}, {0x1E1, 0, 7}, {0x3D1, 0, 8}, {0xBD, 0, 7}, {0x1F5, 0, 8}, // pt bus
                                  {0x1E1, 2, 7}, {0x184, 2, 8}};  // camera bus
 
-const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x315, 0, 5}, {0x2CB, 0, 8}, {0x370, 0, 6}, {0x200, 0, 6}, {0xBD, 0, 7}, {0x1F5, 0, 8},   // pt bus
+const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x315, 0, 5}, {0x2CB, 0, 8}, {0x370, 0, 6}, {0x200, 0, 6}, {0x3D1, 0, 8}, {0xBD, 0, 7}, {0x1F5, 0, 8},   // pt bus
                                       {0x315, 2, 5}, {0x1E1, 2, 7}, {0x184, 2, 8}};  // camera bus
 
 const CanMsg GM_SDGM_TX_MSGS[] = {{0x180, 0, 4}, {0x1E1, 0, 7}, {0xBD, 0, 7}, {0x1F5, 0, 8}, // pt bus
                                   {0x184, 2, 8}};  // camera bus
 
-const CanMsg GM_CC_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x1E1, 0, 7}, {0xBD, 0, 7}, {0x1F5, 0, 8},  // pt bus
+const CanMsg GM_CC_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x370, 0, 6}, {0x1E1, 0, 7}, {0x3D1, 0, 8}, {0xBD, 0, 7}, {0x1F5, 0, 8},  // pt bus
                                      {0x184, 2, 8}, {0x1E1, 2, 7}};  // camera bus
 
 // TODO: do checksum and counter checks. Add correct timestep, 0.1s for now.
@@ -86,6 +86,14 @@ const uint16_t GM_PARAM_HW_SDGM = 1024;
 const uint16_t GM_PARAM_BOLT_2017 = 2048;
 const uint16_t GM_PARAM_BOLT_2022_PEDAL = 4096;
 const uint16_t GM_PARAM_REMOTE_START_BOOTS_COMMA = 8192;
+const uint16_t GM_PARAM_PANDA_3D1_SCHED = 16384;
+
+const uint32_t GM_3D1_PERIOD_US = 100000U;
+const uint32_t GM_3D1_TX_OFFSET_US = 0U;
+const uint32_t GM_3D1_LOCK_TOLERANCE_US = 20000U;
+
+void can_send(CANPacket_t *to_push, uint8_t bus_number, bool skip_tx_hook);
+void can_set_checksum(CANPacket_t *packet);
 
 enum {
   GM_BTN_UNPRESS = 1,
@@ -111,6 +119,41 @@ bool gm_bolt_2022_pedal = false;
 bool gm_ascm_int = false;
 bool gm_force_brake_c9 = false;
 bool gm_remote_start_boots_comma = false;
+bool gm_panda_3d1_sched = false;
+
+bool gm_3d1_spoof_valid = false;
+bool gm_3d1_internal_tx = false;
+uint8_t gm_3d1_spoof_data[8] = {0U};
+uint32_t gm_3d1_next_tx_us = 0U;
+uint32_t gm_3d1_expected_stock_us = 0U;
+uint32_t gm_3d1_last_stock_us = 0U;
+bool gm_3d1_phase_locked = false;
+
+static void gm_try_send_3d1_spoof(uint32_t now_us) {
+  if (!(gm_panda_3d1_sched && gm_3d1_spoof_valid && (gm_3d1_next_tx_us != 0U))) {
+    return;
+  }
+
+  if ((int32_t)(now_us - gm_3d1_next_tx_us) < 0) {
+    return;
+  }
+
+  CANPacket_t to_send = {0};
+  to_send.returned = 0U;
+  to_send.rejected = 0U;
+  to_send.extended = 0U;
+  to_send.addr = 0x3D1U;
+  to_send.bus = 0U;
+  to_send.data_len_code = 8U;
+  (void)memcpy(to_send.data, gm_3d1_spoof_data, 8U);
+  can_set_checksum(&to_send);
+
+  gm_3d1_internal_tx = true;
+  can_send(&to_send, 0U, false);
+  gm_3d1_internal_tx = false;
+
+  gm_3d1_next_tx_us += GM_3D1_PERIOD_US;
+}
 
 static void gm_rx_hook(const CANPacket_t *to_push) {
   if (GET_BUS(to_push) == 0U) {
@@ -183,12 +226,35 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
 
     // Cruise check for CC only cars
     if ((addr == 0x3D1) && !gm_has_acc) {
+      uint32_t now_us = microsecond_timer_get();
+      gm_3d1_last_stock_us = now_us;
       bool cruise_engaged = (GET_BYTE(to_push, 4) >> 7) != 0U;
       if (gm_cc_long) {
         pcm_cruise_check(cruise_engaged);
       } else {
         cruise_engaged_prev = cruise_engaged;
       }
+
+      if (gm_panda_3d1_sched) {
+        if (!gm_3d1_phase_locked) {
+          gm_3d1_phase_locked = true;
+          gm_3d1_expected_stock_us = now_us + GM_3D1_PERIOD_US;
+        } else {
+          int32_t phase_err_us = (int32_t)(now_us - gm_3d1_expected_stock_us);
+          if (phase_err_us < 0) {
+            phase_err_us = -phase_err_us;
+          }
+
+          if ((uint32_t)phase_err_us <= GM_3D1_LOCK_TOLERANCE_US) {
+            gm_3d1_expected_stock_us += GM_3D1_PERIOD_US;
+          } else {
+            gm_3d1_expected_stock_us = now_us + GM_3D1_PERIOD_US;
+          }
+        }
+
+        gm_3d1_next_tx_us = now_us + GM_3D1_TX_OFFSET_US;
+        gm_try_send_3d1_spoof(now_us);
+      }
     }
 
     if (addr == 0xBD) {
@@ -291,6 +357,28 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
     }
   }
 
+  // Cruise status spoofing only for non-ACC (CC-only) paths
+  if (addr == 0x3D1) {
+    bool allowed_cruise_status = !gm_has_acc;
+    if (!allowed_cruise_status) {
+      tx = false;
+    } else if (gm_panda_3d1_sched) {
+      if (gm_3d1_internal_tx) {
+        tx = true;
+      } else {
+        uint32_t now_us = microsecond_timer_get();
+        (void)memcpy(gm_3d1_spoof_data, to_send->data, 8U);
+        gm_3d1_spoof_valid = true;
+        if (gm_3d1_next_tx_us == 0U) {
+          gm_3d1_next_tx_us = now_us + GM_3D1_TX_OFFSET_US;
+        }
+        bool stock_stale = (gm_3d1_last_stock_us == 0U) || (get_ts_elapsed(now_us, gm_3d1_last_stock_us) > 300000U);
+        bool scheduler_ready = gm_3d1_phase_locked && !stock_stale;
+        tx = !scheduler_ready;
+      }
+    }
+  }
+
   // REGEN PADDLE
   if (addr == 0xBD) {
     bool regen_apply = GET_BIT(to_send, 7) || GET_BIT(to_send, 6) || GET_BIT(to_send, 5) || GET_BIT(to_send, 4);
@@ -317,26 +405,32 @@ static int gm_fwd_hook(int bus_num, int addr) {
     if (bus_num == 0) {
       // block PSCMStatus; forwarded through openpilot to hide an alert from the camera
       bool is_pscm_msg = (addr == 0x184);
-      if (!is_pscm_msg) {
+      // For non-ACC camera/SDGM paths, keep stock ECMCruiseControl off camera side
+      // so openpilot's spoofed 0x3D1 is the only cruise-status source there.
+      bool is_ecm_cruise_status_msg = (addr == 0x3D1) && !gm_has_acc;
+      if (!is_pscm_msg && !is_ecm_cruise_status_msg) {
         bus_fwd = 2;
       }
     }
 
     if (bus_num == 2) {
       bool is_lkas_msg = (addr == 0x180);
-      bool block_msg = false;
-      if (gm_bolt_2022_pedal) {
-        // Block 0x370 only for experimental long without pedal interceptor
-        bool is_acc_msg = (addr == 0x315) || (addr == 0x2CB);
-        if (gm_cam_long && !enable_gas_interceptor) {
-          is_acc_msg = is_acc_msg || (addr == 0x370);
-        }
-        block_msg = is_lkas_msg || (is_acc_msg && gm_cam_long);
-      } else {
-        // block lkas message and acc messages if gm_cam_long, forward all others
-        bool is_acc_msg = (addr == 0x315) || (addr == 0x2CB) || (addr == 0x370);
-        block_msg = is_lkas_msg || (is_acc_msg && gm_cam_long);
+      bool is_acc_status_msg = (addr == 0x370);
+      bool is_acc_actuation_msg = (addr == 0x315) || (addr == 0x2CB);
+
+      // Block steering if we are controlling LKA
+      bool block_msg = is_lkas_msg;
+
+      // Block Dashboard Status if we are in Native Long OR Pedal Long
+      if (gm_cam_long || gm_pedal_long) {
+        block_msg |= is_acc_status_msg;
       }
+
+      // Block Native Actuation ONLY if we are in Native Long (not Pedal)
+      if (gm_cam_long) {
+        block_msg |= is_acc_actuation_msg;
+      }
+
       if (!block_msg) {
         bus_fwd = 0;
       }
@@ -376,6 +470,14 @@ static safety_config gm_init(uint16_t param) {
   gm_has_acc = !GET_FLAG(param, GM_PARAM_NO_ACC);
   gm_force_brake_c9 = GET_FLAG(param, GM_PARAM_FORCE_BRAKE_C9);
   gm_remote_start_boots_comma = GET_FLAG(param, GM_PARAM_REMOTE_START_BOOTS_COMMA);
+  gm_panda_3d1_sched = GET_FLAG(param, GM_PARAM_PANDA_3D1_SCHED) && gm_pedal_long && !gm_has_acc && !gm_bolt_2022_pedal;
+
+  gm_3d1_spoof_valid = false;
+  gm_3d1_internal_tx = false;
+  gm_3d1_next_tx_us = 0U;
+  gm_3d1_expected_stock_us = 0U;
+  gm_3d1_last_stock_us = 0U;
+  gm_3d1_phase_locked = false;
 
   safety_config ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_ASCM_TX_MSGS);
   if (gm_hw == GM_CAM) {

panda/python/__init__.py

@@ -243,6 +243,7 @@ class Panda:
   FLAG_GM_BOLT_2017 = 2048
   FLAG_GM_BOLT_2022_PEDAL = 4096
   FLAG_GM_REMOTE_START_BOOTS_COMMA = 8192
+  FLAG_GM_PANDA_3D1_SCHED = 16384
 
   FLAG_FORD_LONG_CONTROL = 1
   FLAG_FORD_CANFD = 2

panda/tests/safety/test_gm.py

@@ -386,7 +386,7 @@ class TestGmInterceptorSafety(common.GasInterceptorSafetyTest, TestGmCameraSafet
 
 
 class TestGmCcLongitudinalSafety(TestGmCameraSafety):
-  TX_MSGS = [[384, 0], [481, 0], [0x1F5, 0], [388, 2]]
+  TX_MSGS = [[384, 0], [481, 0], [0x3D1, 0], [0x1F5, 0], [388, 2]]
   FWD_BLACKLISTED_ADDRS = {2: [384], 0: [388]}  # block LKAS message and PSCMStatus
   BUTTONS_BUS = 0  # tx only
 

selfdrive/car/car_helpers.py

@@ -70,8 +70,9 @@ interface_names = _get_interface_names()
 interfaces = load_interfaces(interface_names)
 
 
-def can_fingerprint(next_can: Callable) -> tuple[str | None, dict[int, dict]]:
+def can_fingerprint(next_can: Callable) -> tuple[str | None, dict[int, dict], dict[int, set[int]]]:
   finger = gen_empty_fingerprint()
+  nonzero_addrs = {bus: set() for bus in finger}
   candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]}  # attempt fingerprint on both bus 0 and 1
   frame = 0
   car_fingerprint = None
@@ -86,7 +87,10 @@ def can_fingerprint(next_can: Callable) -> tuple[str | None, dict[int, dict]]:
       if can.src < 128:
         if can.src not in finger:
           finger[can.src] = {}
+          nonzero_addrs[can.src] = set()
         finger[can.src][can.address] = len(can.dat)
+        if any(can.dat):
+          nonzero_addrs[can.src].add(can.address)
 
       for b in candidate_cars:
         # Ignore extended messages and VIN query response.
@@ -107,7 +111,7 @@ def can_fingerprint(next_can: Callable) -> tuple[str | None, dict[int, dict]]:
 
     frame += 1
 
-  return car_fingerprint, finger
+  return car_fingerprint, finger, nonzero_addrs
 
 
 # **** for use live only ****
@@ -164,7 +168,7 @@ def fingerprint(logcan, sendcan, num_pandas):
   # CAN fingerprint
   # drain CAN socket so we get the latest messages
   messaging.drain_sock_raw(logcan)
-  car_fingerprint, finger = can_fingerprint(lambda: get_one_can(logcan))
+  car_fingerprint, finger, nonzero_addrs = can_fingerprint(lambda: get_one_can(logcan))
 
   exact_match = True
   source = car.CarParams.FingerprintSource.can
@@ -183,7 +187,7 @@ def fingerprint(logcan, sendcan, num_pandas):
                  fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, vin_rx_bus=vin_rx_bus,
                  fingerprints=repr(finger), fw_query_time=fw_query_time, error=True)
 
-  return car_fingerprint, finger, vin, car_fw, source, exact_match
+  return car_fingerprint, finger, nonzero_addrs, vin, car_fw, source, exact_match
 
 
 def get_car_interface(CP, FPCP):
@@ -250,7 +254,7 @@ def migrate_legacy_bolt_candidate(candidate: str) -> str:
 
 
 def get_car(logcan, sendcan, experimental_long_allowed, params, num_pandas=1, frogpilot_toggles=None):
-  candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas)
+  candidate, fingerprints, nonzero_addrs, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas)
 
   if candidate is None or frogpilot_toggles.force_fingerprint:
     if frogpilot_toggles.car_model is not None:
@@ -299,12 +303,12 @@ def get_car(logcan, sendcan, experimental_long_allowed, params, num_pandas=1, fr
       if year_code in year_map:
         vin_candidate = year_map[year_code]
         if vin_candidate == GM_CAR.CHEVROLET_BOLT_ACC_2022_2023:
-          has_acc_msg = (
-            0x370 in fingerprints.get(GMCanBus.CAMERA, {}) or
-            0x370 in fingerprints.get(GMCanBus.POWERTRAIN, {})
+          has_acc_data = (
+            0x370 in nonzero_addrs.get(GMCanBus.CAMERA, set()) or
+            0x370 in nonzero_addrs.get(GMCanBus.POWERTRAIN, set())
           )
           has_pedal_msg = 0x201 in fingerprints.get(GMCanBus.POWERTRAIN, {})
-          if has_acc_msg:
+          if has_acc_data:
             vin_candidate = GM_CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL if has_pedal_msg else GM_CAR.CHEVROLET_BOLT_ACC_2022_2023
           else:
             vin_candidate = GM_CAR.CHEVROLET_BOLT_CC_2022_2023

selfdrive/car/gm/carcontroller.py

@@ -368,7 +368,21 @@ class CarController(CarControllerBase):
       if now_nanos - self.last_steer_ts_ns >= flush_gap_ns:
         can_sends.extend(paddle_sends)
 
+    spoof_ecm_cruise_cars = {
+      CAR.CHEVROLET_BOLT_CC_2017,
+      CAR.CHEVROLET_BOLT_CC_2019_2021,
+      CAR.CHEVROLET_BOLT_CC_2022_2023,
+      CAR.CHEVROLET_MALIBU_HYBRID_CC,
+    }
+    non_acc_pedal_long = (self.CP.flags & GMFlags.PEDAL_LONG.value) and self.CP.carFingerprint in spoof_ecm_cruise_cars and self.CP.enableGasInterceptor
+    if non_acc_pedal_long and self.frame % 4 == 0:
+      spoof_enabled = True
+      spoof_set_speed_kph = hud_v_cruise * CV.MS_TO_KPH
+      can_sends.append(gmcan.create_ecm_cruise_control_command(
+        self.packer_pt, CanBus.POWERTRAIN, spoof_enabled, spoof_set_speed_kph))
+
     if self.CP.openpilotLongitudinalControl:
+
       # Gas/regen, brakes, and UI commands - all at 25Hz
       if self.frame % 4 == 0:
         stopping = actuators.longControlState == LongCtrlState.stopping
@@ -419,10 +433,10 @@ class CarController(CarControllerBase):
 
             gas_max = self.params.MAX_GAS
             accel_max = self.params.ACCEL_MAX
-            
+
             accel = clip(actuators.accel + accel_due_to_pitch, self.params.ACCEL_MIN, accel_max)
             torque = self.tireRadius * ((self.mass*accel) + (0.5*self.coeffDrag*self.frontalArea*self.airDensity*CS.out.vEgo**2))
-            
+
             scaled_torque = torque + self.params.ZERO_GAS
             apply_gas_torque = clip(scaled_torque, self.params.MAX_ACC_REGEN, gas_max)
             BRAKE_SWITCH = int(round(interp(CS.out.vEgo, self.params.BRAKE_SWITCH_LOOKUP_BP, self.params.BRAKE_SWITCH_LOOKUP_V)))
@@ -467,7 +481,7 @@ class CarController(CarControllerBase):
           friction_brake_bus = CanBus.CHASSIS
           # GM Camera exceptions
           # TODO: can we always check the longControlState?
-          if self.CP.networkLocation == NetworkLocation.fwdCamera and self.CP.carFingerprint not in CC_ONLY_CAR:
+          if self.CP.networkLocation == NetworkLocation.fwdCamera:
             at_full_stop = at_full_stop and stopping
             friction_brake_bus = CanBus.POWERTRAIN
             if self.CP.carFingerprint in SDGM_CAR:
@@ -488,10 +502,11 @@ class CarController(CarControllerBase):
           can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, friction_brake_bus, self.apply_brake,
                                                                idx, CC.enabled, near_stop, at_full_stop, self.CP))
 
-          # Send dashboard UI commands (ACC status)
+        is_bolt_acc_pedal = self.CP.carFingerprint == CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL
+        if self.CP.carFingerprint not in CC_ONLY_CAR or is_bolt_acc_pedal:
           send_fcw = hud_alert == VisualAlert.fcw
-          can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled,
-                                                              hud_v_cruise * CV.MS_TO_KPH, hud_control, send_fcw))
+          can_sends.append(gmcan.create_acc_dashboard_command(
+            self.packer_pt, CanBus.POWERTRAIN, CC.enabled, hud_v_cruise * CV.MS_TO_KPH, hud_control, send_fcw))
       else:
         # to keep accel steady for logs when not sending gas
         accel += self.accel_g
@@ -501,7 +516,10 @@ class CarController(CarControllerBase):
       if not self.CP.radarUnavailable:
         send_adas = True
         if self.CP.carFingerprint in kaofui_cars:
-          send_adas = (self.CP.networkLocation != NetworkLocation.fwdCamera) and (self.CP.carFingerprint not in SDGM_CAR)
+          if self.CP.carFingerprint in ASCM_INT:
+            send_adas = True
+          else:
+            send_adas = (self.CP.networkLocation != NetworkLocation.fwdCamera) and (self.CP.carFingerprint not in SDGM_CAR)
 
         if send_adas:
           tt = self.frame * DT_CTRL

selfdrive/car/gm/carstate.py

@@ -34,6 +34,8 @@ class CarState(CarStateBase):
 
     self.single_pedal_mode = False
     self.pedal_steady = 0.
+    self.ecm_cruise_control_ts_nanos = 0
+    self.accelerator_pedal2_ts_nanos = 0
 
   def update(self, pt_cp, cam_cp, loopback_cp, frogpilot_toggles):
     ret = car.CarState.new_message()
@@ -97,7 +99,9 @@ class CarState(CarStateBase):
     else:
       ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL2"]["PRNDL2"], None))
 
-    if self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value:
+    no_accel_pos = bool(self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value)
+
+    if no_accel_pos:
       if self.CP.carFingerprint in kaofui_state_cars:
         ret.brake = pt_cp.vl.get("EBCMBrakePedalPosition", {}).get("BrakePedalPosition", 0) / 0xd0
       else:
@@ -107,20 +111,17 @@ class CarState(CarStateBase):
         ret.brake = pt_cp.vl.get("ECMAcceleratorPos", {}).get("BrakePedalPos", 0)
       else:
         ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
-    if self.CP.carFingerprint == CAR.CHEVROLET_BLAZER:
-      # Blazer can miss light taps on analog threshold; include digital brake switch.
-      ret.brakePressed = (pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0) or (ret.brake >= 0.7)
-    elif self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_CC:
-      # Malibu CC: keep strict opgm behavior using BrakePedalPos >= 8.
+
+    if self.CP.carFingerprint in {CAR.CHEVROLET_MALIBU_CC} or (self.CP.carFingerprint == CAR.CHEVROLET_BLAZER and not no_accel_pos):
       ret.brakePressed = ret.brake >= 8
-    elif (self.CP.flags & GMFlags.FORCE_BRAKE_C9.value) or (self.CP.networkLocation == NetworkLocation.fwdCamera):
+    elif (self.CP.flags & GMFlags.FORCE_BRAKE_C9.value) or ((self.CP.networkLocation == NetworkLocation.fwdCamera) and (self.CP.carFingerprint != CAR.CHEVROLET_BLAZER)):
       ret.brakePressed = pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0
     else:
       # Some Volt 2016-17 have loose brake pedal push rod retainers which causes the ECM to believe
       # that the brake is being intermittently pressed without user interaction.
       # To avoid a cruise fault we need to use a conservative brake position threshold
       # https://static.nhtsa.gov/odi/tsbs/2017/MC-10137629-9999.pdf
-      analog_thresh = 0.15 if (self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value) else 8
+      analog_thresh = 0.10 if no_accel_pos else 8
       ret.brakePressed = ret.brake >= analog_thresh
 
     # Regen braking is braking
@@ -194,6 +195,8 @@ class CarState(CarStateBase):
       if self.CP.pcmCruise and self.CP.carFingerprint not in ASCM_INT:
         ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3)
     if self.CP.carFingerprint in CC_ONLY_CAR:
+      self.ecm_cruise_control_ts_nanos = pt_cp.ts_nanos["ECMCruiseControl"]["CruiseActive"]
+      self.accelerator_pedal2_ts_nanos = pt_cp.ts_nanos["AcceleratorPedal2"]["CruiseState"]
       ret.accFaulted = False
       ret.cruiseState.speed = pt_cp.vl["ECMCruiseControl"]["CruiseSetSpeed"] * CV.KPH_TO_MS
       if self.CP.carFingerprint == CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL:
@@ -207,6 +210,9 @@ class CarState(CarStateBase):
           ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0
         except:
           ret.cruiseState.enabled = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCmdActive"] != 0
+    else:
+      self.ecm_cruise_control_ts_nanos = 0
+      self.accelerator_pedal2_ts_nanos = 0
 
     if self.CP.enableBsm:
       if not sdgm_non_volt:

selfdrive/car/gm/fingerprints.py

@@ -111,7 +111,7 @@ FINGERPRINTS = {
     170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 6, 567: 5, 568: 1, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7
   }],
   CAR.CHEVROLET_BOLT_CC_2019_2021: [
-  # Chevy Bolt EV 2019-2021
+  # Chevy Bolt EV 2018-2021
   # Bolt Premier no ACC 2018 + Pedal
   {
     170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 6, 567: 5, 568: 1, 573: 1, 577: 8, 592: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1601: 8, 1616: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7, 2020: 8, 2023: 8, 2028: 8, 2031: 8

selfdrive/car/gm/gmcan.py

@@ -185,6 +185,23 @@ def create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, hud_con
 
   return packer.make_can_msg("ASCMActiveCruiseControlStatus", bus, values)
 
+def create_ecm_cruise_control_command(packer, bus, enabled, target_speed_kph):
+  dat = bytearray(8)
+  dat[0] = 0x01
+  # Match observed stock shape on non-ACC CC paths: byte4 is usually 0x00
+  # (with occasional 0x80 from stock state transitions). Keep this spoofed
+  # path at 0x00 to avoid plausibility mismatch on non-speed bits.
+  dat[4] = 0x00
+
+  set_speed_raw = 0
+  if enabled:
+    set_speed_raw = int(round(max(0., target_speed_kph) / 0.0625))
+    set_speed_raw = max(0, min(set_speed_raw, 0x0FFF))
+
+  dat[2] = (set_speed_raw >> 8) & 0xFF
+  dat[3] = set_speed_raw & 0xFF
+  return make_can_msg(0x3D1, bytes(dat), bus)
+
 
 def create_adas_time_status(bus, tt, idx):
   dat = [(tt >> 20) & 0xff, (tt >> 12) & 0xff, (tt >> 4) & 0xff,

selfdrive/car/gm/interface.py

@@ -382,6 +382,14 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.torque.kd = 0.93
       ret.lateralTuning.torque.kfDEPRECATED = 0.02
 
+      if candidate in (CAR.CHEVROLET_BOLT_CC_2019_2021,
+                       CAR.CHEVROLET_BOLT_ACC_2022_2023,
+                       CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
+                       CAR.CHEVROLET_BOLT_CC_2022_2023):
+        # Apply 2019-style negative FF and Ki-mult tweaks to 2019-2021 and 2022 variants.
+        ret.lateralTuning.torque.ki *= 1.07
+        ret.lateralTuning.torque.kd *= 0.93
+
       if candidate == CAR.CHEVROLET_BOLT_CC_2017:
         gm_safety_cfg.safetyParam |= Panda.FLAG_GM_BOLT_2017
 
@@ -399,8 +407,6 @@ class CarInterface(CarInterfaceBase):
       # 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
-      if ret.openpilotLongitudinalControl:
-        ret.minEnableSpeed = -1.
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     elif candidate in (CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_EQUINOX_CC):
@@ -536,6 +542,16 @@ class CarInterface(CarInterfaceBase):
     if ACCELERATOR_POS_MSG not in fingerprint.get(CanBus.POWERTRAIN, {}):
       ret.flags |= GMFlags.NO_ACCELERATOR_POS_MSG.value
 
+    use_panda_3d1_sched = (
+      ret.openpilotLongitudinalControl and
+      ret.enableGasInterceptor and
+      bool(ret.flags & GMFlags.PEDAL_LONG.value) and
+      candidate in CC_ONLY_CAR and
+      candidate != CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL
+    )
+    if use_panda_3d1_sched:
+      gm_safety_cfg.safetyParam |= Panda.FLAG_GM_PANDA_3D1_SCHED
+
     return ret
 
   # returns a car.CarState

selfdrive/car/gm/values.py

@@ -273,7 +273,7 @@ class CAR(Platforms):
     CHEVROLET_VOLT.specs,
   )
   CHEVROLET_BOLT_CC_2019_2021 = GMPlatformConfig(
-    [GMCarDocs("Chevrolet Bolt EV 2019-2021 - No-ACC")],
+    [GMCarDocs("Chevrolet Bolt EV 2018-2021 - No-ACC")],
     CHEVROLET_BOLT_ACC_2022_2023.specs,
   )
   CHEVROLET_BOLT_ACC_2022_2023_PEDAL = GMPlatformConfig(
@@ -285,7 +285,6 @@ class CAR(Platforms):
   CHEVROLET_BOLT_CC_2022_2023 = GMPlatformConfig(
     [
       GMCarDocs("Chevrolet Bolt EV 2022-2023 - No-ACC"),
-      GMCarDocs("Chevrolet Bolt EV 2022-2023 - No-ACC"),
     ],
     CHEVROLET_BOLT_ACC_2022_2023.specs,
   )

selfdrive/car/tests/test_can_fingerprint.py

@@ -17,7 +17,7 @@ class TestCanFingerprint:
 
       fingerprint_iter = iter([can])
       empty_can = messaging.new_message('can', 0)
-      car_fingerprint, finger = can_fingerprint(lambda: next(fingerprint_iter, empty_can))  # noqa: B023
+      car_fingerprint, finger, _ = can_fingerprint(lambda: next(fingerprint_iter, empty_can))  # noqa: B023
 
       assert car_fingerprint == car_model
       assert finger[0] == fingerprint
@@ -56,6 +56,6 @@ class TestCanFingerprint:
           frames += 1
           return can  # noqa: B023
 
-        car_fingerprint, _ = can_fingerprint(test)
+        car_fingerprint, _, _ = can_fingerprint(test)
         assert car_fingerprint == car_model
         assert frames == expected_frames + 2# TODO: fix extra frames

selfdrive/car/torque_data/override.toml

@@ -44,7 +44,9 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "CADILLAC_ESCALADE_ESV_2019" = [1.15, 1.3, 0.2]
 "CADILLAC_XT4" = [1.45, 1.6, 0.2]
 "CADILLAC_XT6" = [1.33, 1.9, 0.16]
-"CHEVROLET_BOLT_ACC_2022_2023" = [2.0, 2.0, 0.09]
+"CHEVROLET_BOLT_ACC_2022_2023" = [2.0, 2.0, 0.13]
+"CHEVROLET_BOLT_CC_2017" = [1.5, 2.0, 0.245]
+"CHEVROLET_BOLT_CC_2019_2021" = [2.0, 2.0, 0.13]
 "CHEVROLET_BLAZER" = [1.33, 1.33, 0.18]
 "CHEVROLET_MALIBU_CC" = [1.58, 1.8422651988094612, 0.205]
 "CHEVROLET_SILVERADO" = [1.9, 1.9, 0.112]

selfdrive/car/torque_data/substitute.toml

@@ -64,10 +64,8 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "CHEVROLET_VOLT_ASCM" = "CHEVROLET_VOLT"
 "GMC_ACADIA_ASCM" = "GMC_ACADIA"
 "CHEVROLET_VOLT_2019" = "CHEVROLET_VOLT"
-"CHEVROLET_BOLT_CC_2019_2021" = "CHEVROLET_BOLT_ACC_2022_2023"
 "CHEVROLET_BOLT_ACC_2022_2023_PEDAL" = "CHEVROLET_BOLT_ACC_2022_2023"
 "CHEVROLET_BOLT_CC_2022_2023" = "CHEVROLET_BOLT_ACC_2022_2023"
-"CHEVROLET_BOLT_CC_2017" = "CHEVROLET_BOLT_ACC_2022_2023"
 "CHEVROLET_EQUINOX_CC" = "CHEVROLET_EQUINOX"
 "CHEVROLET_SUBURBAN" = "CHEVROLET_SILVERADO"
 "CHEVROLET_SUBURBAN_CC" = "CHEVROLET_SILVERADO"

selfdrive/controls/lib/drive_helpers.py

@@ -147,8 +147,7 @@ class VCruiseHelper:
     # initializing is handled by the PCM
     if self.CP.pcmCruise:
       return
-
-    initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode and not frogpilot_toggles.conditional_experimental_mode else V_CRUISE_INITIAL
+    engage_floor_kph = max(V_CRUISE_MIN, 7.0 * CV.MPH_TO_KPH)
 
     # 250kph or above probably means we never had a set speed
     if any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents) and self.v_cruise_kph_last < 250:
@@ -157,7 +156,7 @@ class VCruiseHelper:
       if desired_speed_limit != 0 and frogpilot_toggles.set_speed_limit:
         self.v_cruise_kph = int(round(desired_speed_limit * CV.MS_TO_KPH))
       else:
-        self.v_cruise_kph = int(round(clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX)))
+        self.v_cruise_kph = int(round(clip(CS.vEgo * CV.MS_TO_KPH, engage_floor_kph, V_CRUISE_MAX)))
 
     self.v_cruise_cluster_kph = self.v_cruise_kph
 

selfdrive/controls/lib/latcontrol_torque.py

@@ -43,11 +43,18 @@ DEADZONE_BOOST_LAT_ACCEL = 0.08
 UNWIND_D_DES_THRESHOLD = -1.0
 UNWIND_LAT_ACCEL_NEAR_ZERO = 0.3
 
-BOLT_CARS = (
+BOLT_2022_2023_CARS = (
   GM_CAR.CHEVROLET_BOLT_ACC_2022_2023,
+  GM_CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
   GM_CAR.CHEVROLET_BOLT_CC_2022_2023,
+)
+BOLT_2019_2021_CARS = (
   GM_CAR.CHEVROLET_BOLT_CC_2019_2021,
 )
+BOLT_2017_CARS = (
+  GM_CAR.CHEVROLET_BOLT_CC_2017,
+)
+BOLT_CARS = BOLT_2022_2023_CARS + BOLT_2019_2021_CARS + BOLT_2017_CARS
 
 class LatControlTorque(LatControl):
   def __init__(self, CP, CI, dt):
@@ -71,6 +78,13 @@ class LatControlTorque(LatControl):
     self.prev_desired_lateral_accel = 0.0
 
     self.is_bolt = CP.carFingerprint in BOLT_CARS
+    self.is_bolt_2022_2023 = CP.carFingerprint in BOLT_2022_2023_CARS
+    self.is_bolt_2019_2021 = CP.carFingerprint in BOLT_2019_2021_CARS
+    self.is_bolt_2017 = CP.carFingerprint in BOLT_2017_CARS
+    # Keep Bolt-specific FF controls isolated by generation.
+    self.use_bolt_ff_scaling = self.is_bolt_2022_2023 or self.is_bolt_2019_2021
+    self.use_bolt_deadzone_boost = self.is_bolt_2022_2023 or self.is_bolt_2019_2021
+    self.use_bolt_ki_multiplier = self.is_bolt_2022_2023 or self.is_bolt_2019_2021
     self.torque_ff_scale_pos = 1.0
     self.torque_ff_scale_neg = 1.0
     self.torque_deadzone_boost_neg = 0.0
@@ -80,7 +94,7 @@ class LatControlTorque(LatControl):
       self.torque_ff_scale_neg = float(self.torque_params.ki)
       self.torque_ki_mult = float(self.torque_params.kd)
       self.torque_deadzone_boost_neg = float(getattr(self.torque_params, "kfDEPRECATED", 0.0))
-      if self.torque_ki_mult > 0.0 and self.torque_ki_mult != 1.0:
+      if self.use_bolt_ki_multiplier and self.torque_ki_mult > 0.0 and self.torque_ki_mult != 1.0:
         self.pid._k_i = [self.pid._k_i[0], [k * self.torque_ki_mult for k in self.pid._k_i[1]]]
 
   def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
@@ -143,13 +157,13 @@ class LatControlTorque(LatControl):
       # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
       ff -= self.torque_params.latAccelOffset
       ff_scale = 1.0
-      if self.is_bolt:
+      if self.use_bolt_ff_scaling:
         ff_scale = np.interp(ff, [-FF_SCALE_BLEND_LAT_ACCEL, 0.0, FF_SCALE_BLEND_LAT_ACCEL],
                              [self.torque_ff_scale_neg, 1.0, self.torque_ff_scale_pos])
         ff *= ff_scale
       ff += get_friction(error_with_lsf + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, get_friction_threshold(CS.vEgo), self.torque_params)
       deadzone_boost_active = False
-      if self.is_bolt and self.torque_deadzone_boost_neg > 0.0 and gravity_adjusted_future_lateral_accel < 0.0:
+      if self.use_bolt_deadzone_boost and self.torque_deadzone_boost_neg > 0.0 and gravity_adjusted_future_lateral_accel < 0.0:
         if abs(gravity_adjusted_future_lateral_accel) < DEADZONE_BOOST_LAT_ACCEL:
           boost_scale = np.interp(abs(gravity_adjusted_future_lateral_accel), [0.0, DEADZONE_BOOST_LAT_ACCEL], [1.0, 0.0])
           ff -= self.torque_deadzone_boost_neg * boost_scale

selfdrive/controls/lib/longitudinal_planner.py

@@ -348,7 +348,8 @@ class LongitudinalPlanner:
       (self.a_desired > 0.0) and
       self.stable_lead and
       (uncertainty <= 0.425) and
-      (desire_entropy < 0.41)
+      (desire_entropy < 0.41) and
+      (v_ego > 5.0)
     )
 
     # dwell timers for robust gating
@@ -427,7 +428,8 @@ class LongitudinalPlanner:
         self.a_desired = float(self.a_desired - pre_brake)
 
     # Apply tiny feed-forward nudge when released and safe
-    if now_t < self.accel_nudge_until and self.a_desired > -0.1:
+    close_lead = self.lead_one.status and self.lead_one.dRel < 10.0
+    if now_t < self.accel_nudge_until and self.a_desired > -0.1 and not close_lead:
       self.a_desired = float(min(self.a_desired + 0.12, get_max_accel(v_ego)))
 
     # Small deadzone around zero accel to kill micro-dithers