Logging

Mochi's ASCM|SASCM Port
Update tinygrad_modeld.py
2026-08-27 03:03:44 +08:00 · 2025-06-01 21:25:17 -05:00 · 2025-06-01 21:18:11 -05:00 · 2025-05-31 12:59:36 -05:00 · 2025-05-30 17:03:22 -05:00 · 2025-05-28 17:43:18 -05:00
40 changed files with 339 additions and 268 deletions
@@ -1048,6 +1048,8 @@ struct ModelDataV2 {

  struct Action {
    desiredCurvature @0 :Float32;
+    desiredAcceleration @1 :Float32;
+    shouldStop @2 :Bool;
  }
 }

@@ -13,7 +13,7 @@ from openpilot.frogpilot.assets.download_functions import GITLAB_URL, download_f
 from openpilot.frogpilot.common.frogpilot_utilities import delete_file
 from openpilot.frogpilot.common.frogpilot_variables import DEFAULT_CLASSIC_MODEL, DEFAULT_MODEL, DEFAULT_TINYGRAD_MODEL, MODELS_PATH, params, params_default, params_memory

-VERSION = "v14"
+VERSION = "v15"

 CANCEL_DOWNLOAD_PARAM = "CancelModelDownload"
 DOWNLOAD_PROGRESS_PARAM = "ModelDownloadProgress"
@@ -174,7 +174,7 @@ def restart_processes(sm):

  if not any(ps.ignitionLine or ps.ignitionCan for ps in sm["pandaStates"] if ps.pandaType != log.PandaState.PandaType.unknown):
    for name in ["mapd", "ui"]:
-      get_managed_processes()[name].stop(block=True, retry=True, sig=signal.SIGKILL)
+      get_managed_processes()[name].stop(block=False, retry=False, sig=signal.SIGKILL)

 def run_cmd(cmd, success_message, fail_message, report=True):
  try:
@@ -58,8 +58,8 @@ DEFAULT_MODEL = "national-public-radio"
 DEFAULT_MODEL_NAME = "National Public Radio 👀📡"
 DEFAULT_MODEL_VERSION = "v6"

-DEFAULT_TINYGRAD_MODEL = "filet-o-fish"
-DEFAULT_TINYGRAD_MODEL_NAME = "Filet-O-Fish 👀📡"
+DEFAULT_TINYGRAD_MODEL = "tomb-raider"
+DEFAULT_TINYGRAD_MODEL_NAME = "Vikander 👀📡"
 DEFAULT_TINYGRAD_MODEL_VERSION = "v8"

 EXCLUDED_KEYS = {
@@ -391,7 +391,7 @@ class FrogPilotVariables:
    self.vetting_branch = self.short_branch == "FrogPilot-Vetting"

    self.frogpilot_toggles.frogs_go_moo = Path("/persist/frogsgomoo.py").is_file()
-    self.frogpilot_toggles.block_user = self.development_branch and not self.frogpilot_toggles.frogs_go_moo
+    self.frogpilot_toggles.block_user = False

    self.frogpilot_toggles.use_konik_server = params.get_bool("UseKonikServer")
    self.frogpilot_toggles.use_konik_server |= Path("/data/openpilot/not_vetted").is_file()
@@ -56,7 +56,7 @@ def fill_lane_line_meta(builder, lane_lines, lane_line_probs):
  builder.rightProb = lane_line_probs[2]

 def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder,
-                   net_output_data: dict[str, np.ndarray], v_ego: float, delay: float,
+                   net_output_data: dict[str, np.ndarray], action: log.ModelDataV2.Action,
                   publish_state: PublishState, vipc_frame_id: int, vipc_frame_id_extra: int,
                   frame_id: int, frame_drop: float, timestamp_eof: int, model_execution_time: float,
                   valid: bool) -> None:
@@ -71,7 +71,8 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
  driving_model_data.frameIdExtra = vipc_frame_id_extra
  driving_model_data.frameDropPerc = frame_drop_perc
  driving_model_data.modelExecutionTime = model_execution_time
-  driving_model_data.action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
+
+  driving_model_data.action = action

  modelV2 = extended_msg.modelV2
  modelV2.frameId = vipc_frame_id
@@ -89,17 +90,17 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
  fill_xyzt(modelV2.orientationRate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)

  # temporal pose
-  temporal_pose = modelV2.temporalPose
-  temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist()
-  temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist()
-  temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist()
-  temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist()
+  #temporal_pose = modelV2.temporalPose
+  #temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist()
+  #temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist()
+  #temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist()
+  #temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist()

  # poly path
  fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)

-  # lateral planning
-  modelV2.action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
+  # action
+  modelV2.action = action

  # times at X_IDXS of edges and lines aren't used
  LINE_T_IDXS: list[float] = []
@@ -88,6 +88,12 @@ class Parser:
    self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
    self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
    self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
+    self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
+    self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
+    self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
+                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
+    for k in ['lead_prob', 'lane_lines_prob']:
+      self.parse_binary_crossentropy(k, outs)
    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
    self.parse_binary_crossentropy('meta', outs)
    return outs
@@ -95,17 +101,10 @@ class Parser:
  def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
    self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
                   out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
-    self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
-    self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
-    self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
-    self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
-                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
    if 'lat_planner_solution' in outs:
      self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
    if 'desired_curvature' in outs:
      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
-    for k in ['lead_prob', 'lane_lines_prob']:
-      self.parse_binary_crossentropy(k, outs)
    self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
    return outs

@@ -20,19 +20,21 @@ from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
 from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.common.realtime import config_realtime_process
+from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.system import sentry
 from openpilot.selfdrive.car.car_helpers import get_demo_car_params
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
+from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan_tomb_raider, smooth_value, get_curvature_from_plan
 from openpilot.frogpilot.tinygrad_modeld.parse_model_outputs import Parser
 from openpilot.frogpilot.tinygrad_modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
-from openpilot.frogpilot.tinygrad_modeld.constants import ModelConstants
+from openpilot.frogpilot.tinygrad_modeld.constants import ModelConstants, Plan
 from openpilot.frogpilot.tinygrad_modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext

 from openpilot.frogpilot.common.frogpilot_variables import get_frogpilot_toggles

+
 PROCESS_NAME = "frogpilot.tinygrad_modeld.tinygrad_modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')

@@ -41,6 +43,30 @@ POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl'
 VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl'
 POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl'

+LAT_SMOOTH_SECONDS = 0.2
+LONG_SMOOTH_SECONDS = 0.2
+MIN_LAT_CONTROL_SPEED = 0.3
+
+
+def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
+                          lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
+    plan = model_output['plan'][0]
+    desired_accel, should_stop = get_accel_from_plan_tomb_raider(plan[:,Plan.VELOCITY][:,0],
+                                                                 plan[:,Plan.ACCELERATION][:,0],
+                                                                 ModelConstants.T_IDXS,
+                                                                 action_t=long_action_t)
+    desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS)
+
+    desired_curvature = model_output['desired_curvature'][0, 0]
+    if v_ego > MIN_LAT_CONTROL_SPEED:
+      desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS)
+    else:
+      desired_curvature = prev_action.desiredCurvature
+
+    return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),
+                                  desiredAcceleration=float(desired_accel),
+                                  shouldStop=bool(should_stop))
+
 class FrameMeta:
  frame_id: int = 0
  timestamp_sof: int = 0
@@ -148,7 +174,7 @@ class ModelState:
    # TODO model only uses last value now
    self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:]
    self.full_prev_desired_curv[0,-1,:] = policy_outputs_dict['desired_curvature'][0, :]
-    self.numpy_inputs['prev_desired_curv'][:] = self.full_prev_desired_curv[0, self.temporal_idxs]
+    self.numpy_inputs['prev_desired_curv'][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs]

    combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
    if SEND_RAW_PRED:
@@ -223,7 +249,10 @@ def main(demo=False):
  cloudlog.info("tinygrad_modeld got CarParams: %s", CP.carName)

  # TODO this needs more thought, use .2s extra for now to estimate other delays
-  steer_delay = CP.steerActuatorDelay + .2
+  # TODO Move smooth seconds to action function
+  lat_delay = CP.steerActuatorDelay + .2 + LAT_SMOOTH_SECONDS
+  long_delay = CP.longitudinalActuatorDelay + LONG_SMOOTH_SECONDS
+  prev_action = log.ModelDataV2.Action()

  DH = DesireHelper()

@@ -268,7 +297,7 @@ def main(demo=False):
    is_rhd = sm["driverMonitoringState"].isRHD
    frame_id = sm["roadCameraState"].frameId
    v_ego = max(sm["carState"].vEgo, 0.)
-    lateral_control_params = np.array([v_ego, steer_delay], dtype=np.float32)
+    lateral_control_params = np.array([v_ego, lat_delay], dtype=np.float32)
    if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
      device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
      dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@@ -311,7 +340,10 @@ def main(demo=False):
      modelv2_send = messaging.new_message('modelV2')
      drivingdata_send = messaging.new_message('drivingModelData')
      posenet_send = messaging.new_message('cameraOdometry')
-      fill_model_msg(drivingdata_send, modelv2_send, model_output, v_ego, steer_delay,
+
+      action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
+      prev_action = action
+      fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                     publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
                     frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen)

@@ -7,6 +7,7 @@ fi
 source "$BASEDIR/launch_env.sh"

 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+ONCE_FLAG_FILE="/data/openpilot/.setup_done"

 function agnos_init {
  # TODO: move this to agnos
@@ -31,6 +32,24 @@ function agnos_init {
  fi
 }

+function one_time_setup {
+  if [ ! -f "$ONCE_FLAG_FILE" ]; then
+    echo "Performing one-time setup tasks..."
+    
+    # Run once:
+    echo "Wiping old params..."
+    rm /data/params/d/DongleId
+    rm /data/params/d/StockDongleId
+    rm /cache/params/d/DongleId
+    rm /cache/params/d/StockDongleId
+    echo "Old params wiped."
+
+    touch "$ONCE_FLAG_FILE"
+  else
+    echo "One-time setup already completed. Skipping."
+  fi
+}
+
 function launch {
  # Remove orphaned git lock if it exists on boot
  [ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock
@@ -78,6 +97,9 @@ function launch {
    agnos_init
  fi

+  # Perform one-time setup tasks
+  one_time_setup
+
  # write tmux scrollback to a file
  tmux capture-pane -pq -S-1000 > /tmp/launch_log

@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1

 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="10.1"
+  export AGNOS_VERSION="10.1.1"
 fi

 export STAGING_ROOT="/data/safe_staging"
@@ -165,6 +165,7 @@ BO_ 481 ASCMSteeringButton: 7 K124_ASCM
 SG_ DistanceButton : 22|1@0+ (1,0) [0|0] ""  NEO
 SG_ LKAButton : 23|1@0+ (1,0) [0|0] ""  NEO
 SG_ ACCAlwaysOne : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCByFive : 26|2@0+ (1,0) [0|3] "" XXX
 SG_ ACCButtons : 46|3@0+ (1,0) [0|0] ""  NEO
 SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX
 SG_ RollingCounter : 33|2@0+ (1,0) [0|3] "" NEO
@@ -231,13 +231,13 @@ class Panda:

  FLAG_GM_HW_CAM = 1
  FLAG_GM_HW_CAM_LONG = 2
-  FLAG_GM_HW_SDGM = 4
-  FLAG_GM_CC_LONG = 8
-  FLAG_GM_HW_ASCM_LONG = 16
-  FLAG_GM_NO_CAMERA = 32
-  FLAG_GM_NO_ACC = 64
-  FLAG_GM_PEDAL_LONG = 128  # TODO: This can be inferred
-  FLAG_GM_GAS_INTERCEPTOR = 256
+  FLAG_GM_CC_LONG = 4
+  FLAG_GM_HW_ASCM_LONG = 8
+  FLAG_GM_NO_CAMERA = 16
+  FLAG_GM_NO_ACC = 32
+  FLAG_GM_PEDAL_LONG = 64  # TODO: This can be inferred
+  FLAG_GM_GAS_INTERCEPTOR = 128
+  FLAG_GM_ASCM_INT = 256

  FLAG_FORD_LONG_CONTROL = 1
  FLAG_FORD_CANFD = 2
@@ -209,7 +209,8 @@ def get_car(logcan, sendcan, experimental_long_allowed, params, num_pandas=1, fr
  CP.fingerprintSource = source
  CP.fuzzyFingerprint = not exact_match

-  return get_car_interface(CP, FPCP), CP, FPCP
+  interface_instance = get_car_interface(CP, None)
+  return interface_instance, CP, FPCP

 def write_car_param(platform=MOCK.MOCK):
  params = Params()
@@ -1,4 +1,3 @@
-import math
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.filter_simple import FirstOrderFilter
@@ -49,12 +48,6 @@ class CarController(CarControllerBase):
    self.params = CarControllerParams(self.CP)
    self.params_ = Params()

-    self.mass = CP.mass
-    self.tireRadius = 0.075 * CP.wheelbase + 0.1453
-    self.frontalArea = 1.05 * CP.wheelbase + 0.0679
-    self.coeffDrag = 0.30
-    self.airDensity = 1.225
-
    self.packer_pt = CANPacker(DBC[self.CP.carFingerprint]['pt'])
    self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar'])
    self.packer_ch = CANPacker(DBC[self.CP.carFingerprint]['chassis'])
@@ -64,15 +57,16 @@ class CarController(CarControllerBase):
    self.accel_g = 0.0

  @staticmethod
-  def calc_pedal_command(accel: float, long_active: bool, car_velocity) -> float:
+  def calc_pedal_command(accel: float, long_active: bool) -> float:
    if not long_active: return 0.

    zero = 0.15625  # 40/256
-    if accel < -0.5:
-      pedal_gas = 0
+    if accel > 0.:
+      # Scales the accel from 0-1 to 0.156-1
+      pedal_gas = clip(((1 - zero) * accel + zero), 0., 1.)
    else:
-      pedaloffset = interp(car_velocity, [0., 3, 6, 30], [0.10, 0.175, 0.240, 0.240])
-      pedal_gas = clip((pedaloffset + accel * 0.6), 0.0, 1.0)
+      # if accel is negative, -0.1 -> 0.015625
+      pedal_gas = clip(zero + accel, 0., zero)  # Make brake the same size as gas, but clip to regen

    return pedal_gas

@@ -127,6 +121,14 @@ class CarController(CarControllerBase):
      if self.frame % 4 == 0:
        stopping = actuators.longControlState == LongCtrlState.stopping

+        # Pitch compensated acceleration;
+        # TODO: include future pitch (sm['modelDataV2'].orientation.y) to account for long actuator delay
+        if frogpilot_toggles.long_pitch and len(CC.orientationNED) > 1:
+          self.pitch.update(CC.orientationNED[1])
+          self.accel_g = ACCELERATION_DUE_TO_GRAVITY * apply_deadzone(self.pitch.x, PITCH_DEADZONE) # driving uphill is positive pitch
+          accel += self.accel_g
+          brake_accel = actuators.accel + self.accel_g * interp(CS.out.vEgo, BRAKE_PITCH_FACTOR_BP, BRAKE_PITCH_FACTOR_V)
+
        at_full_stop = CC.longActive and CS.out.standstill
        near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE)
        interceptor_gas_cmd = 0
@@ -138,38 +140,27 @@ class CarController(CarControllerBase):
          self.apply_gas = self.params.INACTIVE_REGEN
          self.apply_brake = int(min(-100 * self.CP.stopAccel, self.params.MAX_BRAKE))
        else:
-          
-          if len(CC.orientationNED) == 3 and CS.out.vEgo > self.CP.vEgoStopping:
-            accel_due_to_pitch = math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY
+          # Normal operation
+          if self.CP.carFingerprint in EV_CAR:
+            self.params.update_ev_gas_brake_threshold(CS.out.vEgo)
+            if frogpilot_toggles.sport_plus:
+              self.apply_gas = int(round(interp(accel, self.params.EV_GAS_LOOKUP_BP_PLUS, self.params.GAS_LOOKUP_V_PLUS)))
+            else:
+              self.apply_gas = int(round(interp(accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
+            self.apply_brake = int(round(interp(brake_accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
          else:
-            accel_due_to_pitch = 0.0
-
-          if frogpilot_toggles.sport_plus:
-            gas_max = self.params.MAX_GAS_PLUS
-            accel_max = self.params.ACCEL_MAX_PLUS
-          else:
-            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)))
-          brake_accel = min((scaled_torque - BRAKE_SWITCH)/(self.tireRadius*self.mass), 0)
-          self.apply_gas = int(round(apply_gas_torque))
-          self.apply_brake = int(round(interp(brake_accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
-          if self.apply_brake > 0:
-            self.apply_gas = self.params.INACTIVE_REGEN
-
+            if frogpilot_toggles.sport_plus:
+              self.apply_gas = int(round(interp(accel, self.params.GAS_LOOKUP_BP_PLUS, self.params.GAS_LOOKUP_V_PLUS)))
+            else:
+              self.apply_gas = int(round(interp(accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
+            self.apply_brake = int(round(interp(brake_accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
          # Don't allow any gas above inactive regen while stopping
          # FIXME: brakes aren't applied immediately when enabling at a stop
          if stopping:
            self.apply_gas = self.params.INACTIVE_REGEN
          if self.CP.carFingerprint in CC_ONLY_CAR:
            # gas interceptor only used for full long control on cars without ACC
-            interceptor_gas_cmd = self.calc_pedal_command(actuators.accel, CC.longActive, CS.out.vEgo)
+            interceptor_gas_cmd = self.calc_pedal_command(actuators.accel, CC.longActive)

        if self.CP.enableGasInterceptor and self.apply_gas > self.params.INACTIVE_REGEN and CS.out.cruiseState.standstill:
          # "Tap" the accelerator pedal to re-engage ACC
@@ -192,6 +183,8 @@ class CarController(CarControllerBase):
          if self.CP.networkLocation == NetworkLocation.fwdCamera and self.CP.carFingerprint not in CC_ONLY_CAR:
            at_full_stop = at_full_stop and stopping
            friction_brake_bus = CanBus.POWERTRAIN
+            if self.CP.carFingerprint in SDGM_CAR:
+              friction_brake_bus = CanBus.CAMERA

          if self.CP.autoResumeSng:
            resume = actuators.longControlState != LongCtrlState.starting or CC.cruiseControl.resume
@@ -217,7 +210,7 @@ class CarController(CarControllerBase):

      # Radar needs to know current speed and yaw rate (50hz),
      # and that ADAS is alive (10hz)
-      if not self.CP.radarUnavailable:
+      if not self.CP.radarUnavailable and self.CP.networkLocation != NetworkLocation.fwdCamera:
        tt = self.frame * DT_CTRL
        time_and_headlights_step = 10
        if self.frame % time_and_headlights_step == 0:
@@ -252,10 +245,7 @@ class CarController(CarControllerBase):
      if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
        if self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES:
          self.last_button_frame = self.frame
-          if self.CP.carFingerprint in SDGM_CAR:
-            can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, CS.buttons_counter, CruiseButtons.CANCEL))
-          else:
-            can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
+          can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))

    if self.CP.networkLocation == NetworkLocation.fwdCamera:
      # Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1
@@ -5,7 +5,7 @@ from openpilot.common.numpy_fast import mean
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car.interfaces import CarStateBase
-from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD, GMFlags, CC_ONLY_CAR, CAMERA_ACC_CAR, SDGM_CAR
+from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD, GMFlags, CC_ONLY_CAR, CAMERA_ACC_CAR, SDGM_CAR, ASCM_INT

 TransmissionType = car.CarParams.TransmissionType
 NetworkLocation = car.CarParams.NetworkLocation
@@ -39,14 +39,9 @@ class CarState(CarStateBase):

    self.prev_cruise_buttons = self.cruise_buttons
    self.prev_distance_button = self.distance_button
-    if self.CP.carFingerprint not in SDGM_CAR:
-      self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
-      self.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
-      self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
-    else:
-      self.cruise_buttons = cam_cp.vl["ASCMSteeringButton"]["ACCButtons"]
-      self.distance_button = cam_cp.vl["ASCMSteeringButton"]["DistanceButton"]
-      self.buttons_counter = cam_cp.vl["ASCMSteeringButton"]["RollingCounter"]
+    self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
+    self.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
+    self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
    self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
    # This is to avoid a fault where you engage while still moving backwards after shifting to D.
    # An Equinox has been seen with an unsupported status (3), so only check if either wheel is in reverse (2)
@@ -76,17 +71,16 @@ 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:
-      ret.brake = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] / 0xd0
-    else:
-      ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
-    if self.CP.networkLocation == NetworkLocation.fwdCamera:
-      ret.brakePressed = pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0
+    if self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.flags & GMFlags.FORCE_BRAKE_C9.value:      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
+      if self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value:
+        ret.brake = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] / 0xd0
+      else:
+        ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
      ret.brakePressed = ret.brake >= 8

    # Regen braking is braking
@@ -96,7 +90,7 @@ class CarState(CarStateBase):

    if self.CP.enableGasInterceptor:
      ret.gas = (pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2.
-      threshold = 12 if self.CP.carFingerprint in CAMERA_ACC_CAR else 4 # Panda 515 threshold = 10.88. Set lower to avoid panda blocking messages and GasInterceptor faulting.
+      threshold = 10 if self.CP.carFingerprint in (CAMERA_ACC_CAR | SDGM_CAR) else 4 # Panda 515 threshold = 10.88. Set lower to avoid panda blocking messages and GasInterceptor faulting.
      ret.gasPressed = ret.gas > threshold
    else:
      ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254.
@@ -113,32 +107,19 @@ class CarState(CarStateBase):
    ret.steerFaultTemporary = self.lkas_status == 2
    ret.steerFaultPermanent = self.lkas_status == 3

-    if self.CP.carFingerprint not in SDGM_CAR:
-      # 1 - open, 0 - closed
-      ret.doorOpen = (pt_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
-                      pt_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
-                      pt_cp.vl["BCMDoorBeltStatus"]["RearLeftDoor"] == 1 or
-                      pt_cp.vl["BCMDoorBeltStatus"]["RearRightDoor"] == 1)

-      # 1 - latched
-      ret.seatbeltUnlatched = pt_cp.vl["BCMDoorBeltStatus"]["LeftSeatBelt"] == 0
-      ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
-      ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
+    # 1 - open, 0 - closed
+    ret.doorOpen = (pt_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
+                    pt_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
+                    pt_cp.vl["BCMDoorBeltStatus"]["RearLeftDoor"] == 1 or
+                    pt_cp.vl["BCMDoorBeltStatus"]["RearRightDoor"] == 1)

-      ret.parkingBrake = pt_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
-    else:
-      # 1 - open, 0 - closed
-      ret.doorOpen = (cam_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
-                      cam_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
-                      cam_cp.vl["BCMDoorBeltStatus"]["RearLeftDoor"] == 1 or
-                      cam_cp.vl["BCMDoorBeltStatus"]["RearRightDoor"] == 1)
+    # 1 - latched
+    ret.seatbeltUnlatched = pt_cp.vl["BCMDoorBeltStatus"]["LeftSeatBelt"] == 0
+    ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
+    ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2

-      # 1 - latched
-      ret.seatbeltUnlatched = cam_cp.vl["BCMDoorBeltStatus"]["LeftSeatBelt"] == 0
-      ret.leftBlinker = cam_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
-      ret.rightBlinker = cam_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
-
-      ret.parkingBrake = cam_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
+    ret.parkingBrake = pt_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
    ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0
    ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
    ret.accFaulted = (pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED or
@@ -149,12 +130,11 @@ class CarState(CarStateBase):
    if self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.flags & GMFlags.NO_CAMERA.value:
      if self.CP.carFingerprint not in CC_ONLY_CAR:
        ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
-      if self.CP.carFingerprint not in SDGM_CAR:
+      if self.CP.carFingerprint not in (SDGM_CAR|ASCM_INT):
        ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0
-      else:
-        ret.stockAeb = False
      # openpilot controls nonAdaptive when not pcmCruise
-      if self.CP.pcmCruise:
+      # 2016-2018 Volt won't identify non-adaptive cruise state since switchable cruise state was not introduced till 2019 model year / SDGM Global AAdd commentMore actions
+      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:
      ret.accFaulted = False
@@ -162,19 +142,11 @@ class CarState(CarStateBase):
      ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0

    if self.CP.enableBsm:
-      if self.CP.carFingerprint not in SDGM_CAR:
-        ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
-        ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
-      else:
-        ret.leftBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
-        ret.rightBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
+      ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
+      ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1

-    # FrogPilot CarState functions
    self.lkas_previously_enabled = self.lkas_enabled
-    if self.CP.carFingerprint in SDGM_CAR:
-      self.lkas_enabled = cam_cp.vl["ASCMSteeringButton"]["LKAButton"]
-    else:
-      self.lkas_enabled = pt_cp.vl["ASCMSteeringButton"]["LKAButton"]
+    self.lkas_enabled = pt_cp.vl["ASCMSteeringButton"]["LKAButton"]

    self.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]["CruiseState"]

@@ -189,16 +161,7 @@ class CarState(CarStateBase):
      messages += [
        ("ASCMLKASteeringCmd", 10),
      ]
-      if CP.carFingerprint in SDGM_CAR:
-        messages += [
-          ("BCMTurnSignals", 1),
-          ("BCMDoorBeltStatus", 10),
-          ("BCMGeneralPlatformStatus", 10),
-          ("ASCMSteeringButton", 33),
-        ]
-        if CP.enableBsm:
-          messages.append(("BCMBlindSpotMonitor", 10))
-      else:
+      if CP.carFingerprint not in (SDGM_CAR|ASCM_INT):
        messages += [
          ("AEBCmd", 10),
        ]
@@ -212,43 +175,30 @@ class CarState(CarStateBase):
  @staticmethod
  def get_can_parser(CP, FPCP):
    messages = [
+      ("BCMTurnSignals", 1),
+      ("ECMPRDNL2", 10),
      ("PSCMStatus", 10),
      ("ESPStatus", 10),
+      ("BCMDoorBeltStatus", 10),
+      ("BCMGeneralPlatformStatus", 10),
      ("EBCMWheelSpdFront", 20),
      ("EBCMWheelSpdRear", 20),
      ("EBCMFrictionBrakeStatus", 20),
+      ("AcceleratorPedal2", 33),
+      ("ASCMSteeringButton", 33),
+      ("ECMEngineStatus", 100),
      ("PSCMSteeringAngle", 100),
-      ("ECMAcceleratorPos", 80),
      ("SportMode", 0),
    ]

-    if CP.carFingerprint in SDGM_CAR:
-      messages += [
-        ("ECMPRDNL2", 40),
-        ("AcceleratorPedal2", 40),
-        ("ECMEngineStatus", 80),
-      ]
-    else:
-      messages += [
-        ("ECMPRDNL2", 10),
-        ("AcceleratorPedal2", 33),
-        ("ECMEngineStatus", 100),
-        ("BCMTurnSignals", 1),
-        ("BCMDoorBeltStatus", 10),
-        ("BCMGeneralPlatformStatus", 10),
-        ("ASCMSteeringButton", 33),
-      ]
-      if CP.enableBsm:
-        messages.append(("BCMBlindSpotMonitor", 10))
+    if CP.enableBsm:
+      messages.append(("BCMBlindSpotMonitor", 10))

    # Used to read back last counter sent to PT by camera
    if CP.networkLocation == NetworkLocation.fwdCamera:
      messages += [
        ("ASCMLKASteeringCmd", 0),
      ]
-      if CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value:
-        messages.remove(("ECMAcceleratorPos", 80))
-        messages.append(("EBCMBrakePedalPosition", 100))

    if CP.transmissionType == TransmissionType.direct:
      messages += [
@@ -266,6 +216,14 @@ class CarState(CarStateBase):
        ("GAS_SENSOR", 50),
      ]

+    if CP.networkLocation != NetworkLocation.fwdCamera:
+      messages += [
+        ("ECMAcceleratorPos", 80),
+      ]
+      if CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value:
+        messages.remove(("ECMAcceleratorPos", 80))
+        messages.append(("EBCMBrakePedalPosition", 100))
+
    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.POWERTRAIN)

  @staticmethod
@@ -26,6 +26,12 @@ FINGERPRINTS = {
  {
    170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2017: 8, 2020: 8, 2025: 8, 2028: 8
  }],
+  CAR.CHEVROLET_VOLT_ASCM: [
+  # Causes errors with normal OBD install
+  #   {
+  #   189: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 497: 8, 500: 6, 501: 8, 528: 4, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 767: 4, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1922: 7, 1930: 7Add commentMore actions
+  # }
+  ],
  CAR.BUICK_LACROSSE: [{
    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 5, 707: 8, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 872: 1, 882: 8, 890: 1, 892: 2, 893: 1, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1914: 7, 1916: 7, 1918: 7, 1919: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
  }],
@@ -178,8 +184,7 @@ FINGERPRINTS = {
  CAR.CADILLAC_XT4: [
  # Cadillac XT4 w/ ACC 2023
  {
-    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 761: 7, 806: 1, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 880: 6, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 5, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1037: 5, 1105: 5, 1187: 5, 1195: 3, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1276: 2, 1277: 7, 1278: 4, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1517: 8, 1601: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 8, 1924: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1984: 8, 1988: 8, 2000: 8, 2001: 8, 2002: 8, 2016: 8, 2017: 8, 2018: 8, 2020: 8, 2021: 8, 2024: 8, 2026: 8
-  }],
+    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 513: 6, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 761: 7, 767: 4, 806: 1, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 880: 6, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 5, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1037: 5, 1105: 5, 1187: 5, 1195: 3, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1276: 2, 1277: 7, 1278: 4, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1517: 8, 1601: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 8, 1924: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1984: 8, 1988: 8, 2000: 8, 2001: 8, 2002: 8, 2016: 8, 2017: 8, 2018: 8, 2020: 8, 2021: 8, 2024: 8, 2026: 8  }],
  CAR.CADILLAC_XT5_CC: [
  # TRain's 2017 XT5
  {
@@ -188,12 +193,12 @@ FINGERPRINTS = {
  CAR.CHEVROLET_TRAVERSE: [
  # Chevy Traverse w/ ACC 2023
  {
-    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 578: 8, 579: 8, 587: 8, 603: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 723: 4, 730: 4, 753: 5, 761: 7, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 5, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 5, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1346: 8, 1347: 8, 1355: 8, 1362: 8, 1417: 8, 1512: 8, 1514: 8, 1601: 8, 1602: 8, 1603: 7, 1609: 8, 1611: 8, 1613: 8, 1618: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1871: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 7, 1927: 8, 1930: 7, 1937: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1988: 8, 1990: 8, 2000: 8, 2001: 8, 2004: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2024: 8, 2026: 8
+    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 513: 6, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 578: 8, 579: 8, 587: 8, 603: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 723: 4, 730: 4, 753: 5, 761: 7, 767: 4, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 5, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 5, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1346: 8, 1347: 8, 1355: 8, 1362: 8, 1417: 8, 1512: 8, 1514: 8, 1601: 8, 1602: 8, 1603: 7, 1609: 8, 1611: 8, 1613: 8, 1618: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1871: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 7, 1927: 8, 1930: 7, 1937: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1988: 8, 1990: 8, 2000: 8, 2001: 8, 2004: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2024: 8, 2026: 8
  }],
  CAR.BUICK_BABYENCLAVE: [
  # Buick Baby Enclave w/ ACC 2020-23
  {
-    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 394: 7, 398: 8, 401: 8, 405: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 450: 4, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 456: 8, 457: 6, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 723: 4, 730: 4, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 872: 1, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1037: 5, 1105: 5, 1187: 5, 1195: 3, 1201: 3, 1217: 8, 1218: 3, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1276: 2, 1277: 7, 1278: 4, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1514: 8, 1517: 8, 1601: 8, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1914: 7, 1916: 7, 1919: 7, 1927: 7, 1930: 7, 2018: 8, 2020: 8, 2021: 8, 2028: 8
+    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 394: 7, 398: 8, 401: 8, 405: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 450: 4, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 456: 8, 457: 6, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 513: 6, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 723: 4, 730: 4, 761: 7, 767: 4, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 872: 1, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1037: 5, 1105: 5, 1187: 5, 1195: 3, 1201: 3, 1217: 8, 1218: 3, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1276: 2, 1277: 7, 1278: 4, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1514: 8, 1517: 8, 1601: 8, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1914: 7, 1916: 7, 1919: 7, 1927: 7, 1930: 7, 2018: 8, 2020: 8, 2021: 8, 2028: 8
  }],
  CAR.CHEVROLET_MALIBU_CC: [
  {
@@ -203,6 +208,11 @@ FINGERPRINTS = {
  {
    190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7
  }],
+  CAR.CHEVROLET_VOLT_2019: [
+  # Chevy Volt w/ ACC 2019
+  {
+    170: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 331: 3, 352: 5, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 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: 7, 567: 5, 573: 1, 577: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 715: 8, 717: 5, 761: 7, 767: 4, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1268: 2, 1273: 3, 1275: 3, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1513: 8, 1516: 8, 1517: 8, 1601: 8, 1609: 8, 1611: 8, 1618: 8, 1613: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1871: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1920: 8, 1922: 7, 1927: 7, 1930: 7, 1937: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1988: 8, 1990: 8, 2000: 8, 2001: 8, 2004: 8, 2017: 8, 2018: 8, 2020: 8, 2021: 8, 2023: 8, 2025: 8, 2028: 8, 2031: 8
+  }],
 }

 FW_VERSIONS: dict[str, dict[tuple, list[bytes]]] = {
@@ -66,6 +66,7 @@ def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop):
    "GasRegenFullStopActive": at_full_stop,
    "GasRegenAlwaysOne": 1,
    "GasRegenAlwaysOne2": 1,
+    "GasRegenAlwaysOne3": 1,
  }

  dat = packer.make_can_msg("ASCMGasRegenCmd", bus, values)[2]
@@ -8,12 +8,12 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
-from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus, GMFlags, CC_ONLY_CAR, SDGM_CAR
+from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus, GMFlags, CC_ONLY_CAR, SDGM_CAR, ASCM_INT
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
 from openpilot.selfdrive.controls.lib.drive_helpers import get_friction

-from openpilot.frogpilot.common.frogpilot_variables import params
-
+from openpilot.common.params import Params
+params = Params()
 ButtonType = car.CarState.ButtonEvent.Type
 FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
@@ -104,47 +104,43 @@ class CarInterface(CarInterfaceBase):
    if PEDAL_MSG in fingerprint[0]:
      ret.enableGasInterceptor = True
      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_GAS_INTERCEPTOR
+      # When a pedal interceptor is present, always use normal longitudinal (block stock cruise)
+      experimental_long = False

    if candidate in EV_CAR:
      ret.transmissionType = TransmissionType.direct
    else:
      ret.transmissionType = TransmissionType.automatic

-    ret.longitudinalTuning.kiBP = [5., 35., 60.]
+    ret.longitudinalTuning.kiBP = [5., 35.]

-    if candidate in CAMERA_ACC_CAR:
-      ret.experimentalLongitudinalAvailable = candidate not in CC_ONLY_CAR
+    if candidate in (CAMERA_ACC_CAR | SDGM_CAR | ASCM_INT):
+      ret.experimentalLongitudinalAvailable = candidate not in (CC_ONLY_CAR | SDGM_CAR | ASCM_INT) or 0x2FF in fingerprint[CanBus.POWERTRAIN]
      ret.networkLocation = NetworkLocation.fwdCamera
-      ret.radarUnavailable = True  # no radar
+      ret.radarUnavailable = 0x460 not in fingerprint[CanBus.OBSTACLE]
      ret.pcmCruise = True
      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
      ret.minEnableSpeed = 5 * CV.KPH_TO_MS
      ret.minSteerSpeed = 10 * CV.KPH_TO_MS
+      if candidate in ASCM_INT:
+        ret.minSteerSpeed = 7 * CV.MPH_TO_MS
+        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_ASCM_INT

      # Tuning for experimental long
-      ret.longitudinalTuning.kiV = [0.5, 0.5, 0.5]
-      ret.vEgoStopping = 0.1
-      ret.vEgoStarting = 0.1
+      ret.longitudinalTuning.kiV = [1.0, 1.0]

      ret.stoppingDecelRate = 1.0  # reach brake quickly after enabling
      ret.vEgoStopping = 0.25
      ret.vEgoStarting = 0.25
-      ret.stopAccel = -0.25
+      ret.stopAccel = -0.20

      if experimental_long:
        ret.pcmCruise = False
        ret.openpilotLongitudinalControl = True
        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
-
-    elif candidate in SDGM_CAR:
-      ret.longitudinalTuning.kiV = [0., 0., 0.]  # TODO: tuning
-      ret.experimentalLongitudinalAvailable = False
-      ret.networkLocation = NetworkLocation.fwdCamera
-      ret.pcmCruise = True
-      ret.radarUnavailable = True
-      ret.minEnableSpeed = -1.  # engage speed is decided by ASCM
-      ret.minSteerSpeed = 30 * CV.MPH_TO_MS
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_SDGM
+        if candidate in SDGM_CAR:
+          ret.safetyConfigs[0].safetyParam |= Panda.FLAG_FORCE_BRAKE_C9
+          ret.flags |= GMFlags.FORCE_BRAKE_C9.value

    else:  # ASCM, OBD-II harness
      ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
@@ -156,7 +152,11 @@ class CarInterface(CarInterfaceBase):
      ret.minSteerSpeed = 7 * CV.MPH_TO_MS

      # Tuning
-      ret.longitudinalTuning.kiV = [0.5, 0.5, 0.5]
+      ret.longitudinalTuning.kiV = [0.5, 0.5]
+      ret.stoppingDecelRate = 3
+      ret.vEgoStopping = 0.75
+      ret.vEgoStarting = 0.75
+      ret.stopAccel = -1.5

      if ret.enableGasInterceptor:
        # Need to set ASCM long limits when using pedal interceptor, instead of camera ACC long limits
@@ -207,7 +207,6 @@ class CarInterface(CarInterfaceBase):
    elif candidate in (CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_BOLT_CC):
      ret.steerActuatorDelay = 0.2
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
-      ret.lateralTuning.torque.kp = 0.6

      if ret.enableGasInterceptor:
        # ACC Bolts use pedal for full longitudinal control, not just sng
@@ -238,6 +237,8 @@ class CarInterface(CarInterfaceBase):

    elif candidate == CAR.CADILLAC_XT4:
      ret.steerActuatorDelay = 0.2
+      ret.minEnableSpeed = -1.  # engage speed is decided by pcm
+      ret.minSteerSpeed = 30 * CV.MPH_TO_MS
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

    elif candidate == CAR.CADILLAC_XT5_CC:
@@ -246,12 +247,12 @@ class CarInterface(CarInterfaceBase):

    elif candidate == CAR.CHEVROLET_TRAVERSE:
      ret.steerActuatorDelay = 0.2
-      ret.minSteerSpeed = 10 * CV.KPH_TO_MS
+      ret.minEnableSpeed = -1.  # engage speed is decided by pcm
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

    elif candidate == CAR.BUICK_BABYENCLAVE:
      ret.steerActuatorDelay = 0.2
-      ret.minSteerSpeed = 10 * CV.KPH_TO_MS
+      ret.minEnableSpeed = -1.  # engage speed is decided by pcm
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

    elif candidate == CAR.CADILLAC_CT6_CC:
@@ -264,28 +265,29 @@ class CarInterface(CarInterfaceBase):
    elif candidate == CAR.CHEVROLET_TRAX:
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

+    elif candidate == CAR.CHEVROLET_VOLT_2019:
+      ret.steerActuatorDelay = 0.2
+      if not ret.openpilotLongitudinalControl:
+        ret.minEnableSpeed = -1.  # engage speed is decided by pcm
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
    if ret.enableGasInterceptor:
-      ret.networkLocation = NetworkLocation.fwdCamera
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
-      ret.minEnableSpeed = -1
-      ret.pcmCruise = False
-      ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
      ret.stoppingControl = True
      ret.autoResumeSng = True

-      if candidate in CC_ONLY_CAR: #pedal interceptor tuning
+      if candidate in CC_ONLY_CAR:
        ret.flags |= GMFlags.PEDAL_LONG.value
        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_PEDAL_LONG
        # Note: Low speed, stop and go not tested. Should be fairly smooth on highway
-        ret.longitudinalTuning.kiBP = [0., 3., 6., 35.]
-        ret.longitudinalTuning.kiV = [0.125, 0.175, 0.225, 0.33]
-        ret.longitudinalTuning.kf = 0.25
+        ret.longitudinalTuning.kiBP = [0.0, 5., 35.]
+        ret.longitudinalTuning.kiV = [0.0, 0.35, 0.5]
+        ret.longitudinalTuning.kf = 0.15
        ret.stoppingDecelRate = 0.8
+        ret.minEnableSpeed = -1
+        ret.pcmCruise = False
+        ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
      else:  # Pedal used for SNG, ACC for longitudinal control otherwise
-        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
        ret.startingState = True
-        ret.vEgoStopping = 0.25
-        ret.vEgoStarting = 0.25

    elif candidate in CC_ONLY_CAR:
      ret.flags |= GMFlags.CC_LONG.value
@@ -296,21 +298,26 @@ class CarInterface(CarInterfaceBase):
      ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
      ret.pcmCruise = False

-      if not ret.enableGasInterceptor and candidate in CC_ONLY_CAR: #redneck tuning
-        ret.longitudinalTuning.kpBP = [10.7, 10.8, 28.]  # 10.7 m/s == 24 mph
-        ret.longitudinalTuning.kpV = [0., 20., 20.]  # set lower end to 0 since we can't drive below that speed
+      ret.stoppingDecelRate = 11.18  # == 25 mph/s (.04 rate)
+
+      if candidate != CAR.CHEVROLET_BOLT_CC:
+        ret.longitudinalTuning.kiBP = [10.7, 10.8, 28.]
+        ret.longitudinalTuning.kiV = [0., 20., 20.]  # set lower end to 0 since we can't drive below that speed
+      else:
        ret.longitudinalTuning.deadzoneBP = [0.]
        ret.longitudinalTuning.deadzoneV = [0.56]  # == 2 km/h/s, 1.25 mph/s
        ret.longitudinalActuatorDelay = 1.  # TODO: measure this
+
+        ret.longitudinalTuning.kpBP = [10.7, 10.8, 28.]  # 10.7 m/s == 24 mph
+        ret.longitudinalTuning.kpV = [0., 20., 20.]  # set lower end to 0 since we can't drive below that speed
        ret.longitudinalTuning.kiBP = [0.]
        ret.longitudinalTuning.kiV = [0.1]
-        ret.stoppingDecelRate = 11.18  # == 25 mph/s (.04 rate)

    if candidate in CC_ONLY_CAR:
      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_ACC

    # Exception for flashed cars, or cars whose camera was removed
-    if (ret.networkLocation == NetworkLocation.fwdCamera or candidate in CC_ONLY_CAR) and CAM_MSG not in fingerprint[CanBus.CAMERA] and not candidate in SDGM_CAR:
+    if (ret.networkLocation == NetworkLocation.fwdCamera or candidate in CC_ONLY_CAR) and CAM_MSG not in fingerprint[CanBus.CAMERA] and not candidate in (SDGM_CAR | ASCM_INT):
      ret.flags |= GMFlags.NO_CAMERA.value
      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_CAMERA

@@ -346,7 +353,7 @@ class CarInterface(CarInterfaceBase):
    # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
    below_min_enable_speed = ret.vEgo < self.CP.minEnableSpeed or self.CS.moving_backward
    if below_min_enable_speed and not (ret.standstill and ret.brake >= 20 and
-                                       (self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.carFingerprint in SDGM_CAR)):
+                                       self.CP.networkLocation == NetworkLocation.fwdCamera):
      events.add(EventName.belowEngageSpeed)
    if ret.cruiseState.standstill and not (self.CP.autoResumeSng or self.disable_resumeRequired):
      events.add(EventName.resumeRequired)
@@ -38,10 +38,10 @@ class CarControllerParams:

  def __init__(self, CP):
    # Gas/brake lookups
-    self.ZERO_GAS = 6150  # Coasting
+    self.ZERO_GAS = 6144  # Coasting
    self.MAX_BRAKE = 400  # ~ -4.0 m/s^2 with regen

-    if CP.carFingerprint in CAMERA_ACC_CAR and CP.carFingerprint not in CC_ONLY_CAR:
+    if CP.carFingerprint in (CAMERA_ACC_CAR | SDGM_CAR) and CP.carFingerprint not in CC_ONLY_CAR and CP.carFingerprint != CAR.CHEVROLET_BOLT_EUV:
      self.MAX_GAS = 7496
      self.MAX_GAS_PLUS = 8848
      self.MAX_ACC_REGEN = 5610
@@ -49,15 +49,6 @@ class CarControllerParams:
      # Camera ACC vehicles have no regen while enabled.
      # Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
      self.max_regen_acceleration = 0.
-      self.BRAKE_SWITCH_MAX = self.MAX_ACC_REGEN if CP.carFingerprint in EV_CAR else self.ZERO_GAS
-
-    elif CP.carFingerprint in SDGM_CAR:
-      self.MAX_GAS = 7496
-      self.MAX_GAS_PLUS = 7496
-      self.MAX_ACC_REGEN = 5610
-      self.INACTIVE_REGEN = 5650
-      self.max_regen_acceleration = 0.
-      self.BRAKE_SWITCH = self.ZERO_GAS

    else:
      self.MAX_GAS = 7168  # Safety limit, not ACC max. Stock ACC >8192 from standstill.
@@ -67,19 +58,15 @@ class CarControllerParams:
      # ICE has much less engine braking force compared to regen in EVs,
      # lower threshold removes some braking deadzone
      self.max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1
-      self.BRAKE_SWITCH_MAX = self.MAX_ACC_REGEN if CP.carFingerprint in EV_CAR else self.ZERO_GAS

    self.GAS_LOOKUP_BP = [self.max_regen_acceleration, 0., self.ACCEL_MAX]
    self.GAS_LOOKUP_BP_PLUS = [self.max_regen_acceleration, 0., self.ACCEL_MAX_PLUS]
    self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS]
    self.GAS_LOOKUP_V_PLUS = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS_PLUS]

-    self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, 0.]
+    self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, self.max_regen_acceleration]
    self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]

-    self.BRAKE_SWITCH_LOOKUP_BP = [0.5, 10]
-    self.BRAKE_SWITCH_LOOKUP_V = [self.ZERO_GAS, self.BRAKE_SWITCH_MAX]
-
  # determined by letting Volt regen to a stop in L gear from 89mph,
  # and by letting off gas and allowing car to creep, for determining
  # the positive threshold values at very low speed
@@ -131,6 +118,11 @@ class CAR(Platforms):
    GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45, tireStiffnessFactor=0.469, minEnableSpeed=-1),
    dbc_dict=dbc_dict('gm_global_a_powertrain_volt', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')
  )
+  CHEVROLET_VOLT_ASCM = GMPlatformConfig(
+    [GMCarDocs("Chevrolet Volt 2017-18 w/ ASCM Harness", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ")],
+    GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45, tireStiffnessFactor=0.469, minEnableSpeed=-1),
+    dbc_dict=dbc_dict('gm_global_a_powertrain_volt', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')
+  )
  CADILLAC_ATS = GMASCMPlatformConfig(
    [GMCarDocs("Cadillac ATS Premium Performance 2018")],
    GMCarSpecs(mass=1601, wheelbase=2.78, steerRatio=15.3),
@@ -175,7 +167,7 @@ class CAR(Platforms):
      GMCarDocs("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
      GMCarDocs("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"),
    ],
-    GMCarSpecs(mass=2994, wheelbase=3.75, steerRatio=16.3, tireStiffnessFactor=1.0),
+    GMCarSpecs(mass=2450, wheelbase=3.75, steerRatio=16.3, tireStiffnessFactor=1.0),
  )
  CHEVROLET_EQUINOX = GMPlatformConfig(
    [GMCarDocs("Chevrolet Equinox 2019-22")],
@@ -246,6 +238,10 @@ class CAR(Platforms):
    [GMCarDocs("Chevrolet TRAX 2024")],
    CarSpecs(mass=1365, wheelbase=2.7, steerRatio=16.4, centerToFrontRatio=0.4),
  )
+  CHEVROLET_VOLT_2019 = GMPlatformConfig(
+    [GMCarDocs("Chevrolet Volt 2019")],
+    GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=15.7, centerToFrontRatio=0.45),
+  )


 class CruiseButtons:
@@ -275,6 +271,7 @@ class GMFlags(IntFlag):
  CC_LONG = 2
  NO_CAMERA = 4
  NO_ACCELERATOR_POS_MSG = 8
+  FORCE_BRAKE_C9 = 16


 # In a Data Module, an identifier is a string used to recognize an object,
@@ -326,13 +323,15 @@ FW_QUERY_CONFIG = FwQueryConfig(
  extra_ecus=[(Ecu.fwdCamera, 0x24b, None)],
 )

-EV_CAR = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC}
+EV_CAR = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_VOLT_ASCM}
 CC_ONLY_CAR = {CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_EQUINOX_CC, CAR.CHEVROLET_SUBURBAN_CC, CAR.GMC_YUKON_CC, CAR.CADILLAC_CT6_CC, CAR.CHEVROLET_TRAILBLAZER_CC, CAR.CADILLAC_XT5_CC, CAR.CHEVROLET_MALIBU_CC}
 # CC_ONLY_CAR = set(c for c in CAR if str(c).endswith('_CC'))

 # We're integrated at the Safety Data Gateway Module on these cars
 SDGM_CAR = {CAR.CADILLAC_XT4, CAR.CHEVROLET_TRAVERSE, CAR.BUICK_BABYENCLAVE}

+ASCM_INT = {CAR.CHEVROLET_VOLT_ASCM}
+
 # We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
 CAMERA_ACC_CAR = {CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_TRAILBLAZER, CAR.CHEVROLET_TRAX}
 CAMERA_ACC_CAR.update({CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_EQUINOX_CC, CAR.GMC_YUKON_CC, CAR.CADILLAC_CT6_CC, CAR.CHEVROLET_TRAILBLAZER_CC, CAR.CADILLAC_XT5_CC, CAR.CHEVROLET_MALIBU_CC})
@@ -218,9 +218,10 @@ class CarInterfaceBase(ABC):
    self.silent_steer_warning = True
    self.v_ego_cluster_seen = False

-    self.CS = CarState(CP, FPCP)
-    self.cp = self.CS.get_can_parser(CP, FPCP)
-    self.cp_cam = self.CS.get_cam_can_parser(CP, FPCP)
+    self.CS = CarState(CP, None)
+    fp = FPCP if FPCP is not None else getattr(self, "FPCP", None)
+    self.cp = self.CS.get_can_parser(CP, fp)
+    self.cp_cam = self.CS.get_cam_can_parser(CP, fp)
    self.cp_adas = self.CS.get_adas_can_parser(CP)
    self.cp_body = self.CS.get_body_can_parser(CP)
    self.cp_loopback = self.CS.get_loopback_can_parser(CP)
@@ -49,6 +49,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "CHEVROLET_TRAILBLAZER" = [1.33, 1.9, 0.16]
 "CHEVROLET_TRAVERSE" = [1.33, 1.33, 0.18]
 "CHEVROLET_EQUINOX" = [2.5, 2.5, 0.05]
+"CHEVROLET_VOLT_2019" = [1.45, 1.6, 0.2]
 "VOLKSWAGEN_CADDY_MK3" = [1.2, 1.2, 0.1]
 "VOLKSWAGEN_PASSAT_NMS" = [2.5, 2.5, 0.1]
 "VOLKSWAGEN_SHARAN_MK2" = [2.5, 2.5, 0.1]
@@ -56,6 +56,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "CADILLAC_ESCALADE_ESV" = "CHEVROLET_VOLT"
 "CADILLAC_ATS" = "CHEVROLET_VOLT"
 "CHEVROLET_MALIBU" = "CHEVROLET_VOLT"
+"CHEVROLET_VOLT_ASCM" = "CHEVROLET_VOLT"
 "HOLDEN_ASTRA" = "CHEVROLET_VOLT"
 "CHEVROLET_VOLT_CC" = "CHEVROLET_VOLT"
 "CHEVROLET_BOLT_CC" = "CHEVROLET_BOLT_EUV"
@@ -1,9 +1,10 @@
 import math
+import numpy as np

 from cereal import car, log
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import clip, interp
-from openpilot.common.realtime import DT_CTRL
+from openpilot.common.realtime import DT_CTRL, DT_MDL

 # WARNING: this value was determined based on the model's training distribution,
 #          model predictions above this speed can be unpredictable
@@ -178,6 +179,9 @@ def apply_center_deadzone(error, deadzone):
 def rate_limit(new_value, last_value, dw_step, up_step):
  return clip(new_value, last_value + dw_step, last_value + up_step)

+def smooth_value(val, prev_val, tau, dt=DT_MDL):
+  alpha = 1 - np.exp(-dt/tau) if tau > 0 else 1
+  return alpha * val + (1 - alpha) * prev_val

 def clip_curvature(v_ego, prev_curvature, new_curvature, planner_curves):
  if planner_curves:
@@ -208,3 +212,29 @@ def get_speed_error(modelV2: log.ModelDataV2, v_ego: float) -> float:
    vel_err = clip(modelV2.temporalPose.trans[0] - v_ego, -MAX_VEL_ERR, MAX_VEL_ERR)
    return float(vel_err)
  return 0.0
+
+
+def get_accel_from_plan_tomb_raider(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.05):
+  if len(speeds) == len(t_idxs):
+    v_now = speeds[0]
+    a_now = accels[0]
+    v_target = np.interp(action_t, t_idxs, speeds)
+    a_target = 2 * (v_target - v_now) / (action_t) - a_now
+    v_target_1sec = np.interp(action_t + 1.0, t_idxs, speeds)
+  else:
+    v_target = 0.0
+    v_target_1sec = 0.0
+    a_target = 0.0
+  should_stop = (v_target < vEgoStopping and
+                 v_target_1sec < vEgoStopping)
+  return a_target, should_stop
+
+def curv_from_psis(psi_target, psi_rate, vego, action_t):
+  vego = np.clip(vego, MIN_SPEED, np.inf)
+  curv_from_psi = psi_target / (vego * action_t)
+  return 2*curv_from_psi - psi_rate / vego
+
+def get_curvature_from_plan(yaws, yaw_rates, t_idxs, vego, action_t):
+  psi_target = np.interp(action_t, t_idxs, yaws)
+  psi_rate = yaw_rates[0]
+  return curv_from_psis(psi_target, psi_rate, vego, action_t)
@@ -13,7 +13,7 @@ from openpilot.selfdrive.car.interfaces import ACCEL_MIN, ACCEL_MAX
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC, LEAD_ACCEL_TAU
-from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, V_CRUISE_UNSET, CONTROL_N, get_speed_error
+from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, V_CRUISE_UNSET, CONTROL_N, get_speed_error, get_accel_from_plan_tomb_raider
 from openpilot.common.swaglog import cloudlog

 LON_MPC_STEP = 0.2  # first step is 0.2s
@@ -203,8 +203,12 @@ class LongitudinalPlanner:
      throttle_prob = 1.0
    return x, v, a, j, throttle_prob

-  def update(self, radarless_model, sm, frogpilot_toggles):
-    self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc'
+  def update(self, radarless_model, tomb_raider, sm, frogpilot_toggles):
+    if tomb_raider:
+      self.mpc.mode = 'acc'
+      self.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc'
+    else:
+      self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc'

    if len(sm['carControl'].orientationNED) == 3:
      accel_coast = get_coast_accel(sm['carControl'].orientationNED[1])
@@ -294,7 +298,7 @@ class LongitudinalPlanner:
    self.a_desired = float(interp(self.dt, CONTROL_N_T_IDX, self.a_desired_trajectory))
    self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0

-  def publish(self, classic_model, sm, pm, frogpilot_toggles):
+  def publish(self, classic_model, tomb_raider, sm, pm, frogpilot_toggles):
    plan_send = messaging.new_message('longitudinalPlan')

    plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState'])
@@ -314,12 +318,25 @@ class LongitudinalPlanner:

    if classic_model:
      a_target, should_stop = get_accel_from_plan_classic(self.CP, longitudinalPlan.speeds, longitudinalPlan.accels, vEgoStopping=frogpilot_toggles.vEgoStopping)
+    elif tomb_raider:
+      action_t =  self.CP.longitudinalActuatorDelay + DT_MDL
+      output_a_target_mpc, output_should_stop_mpc = get_accel_from_plan_tomb_raider(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX,
+                                                                                    action_t=action_t, vEgoStopping=frogpilot_toggles.vEgoStopping)
+      output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
+      output_should_stop_e2e = sm['modelV2'].action.shouldStop
+
+      if self.mode == 'acc':
+        a_target = output_a_target_mpc
+        should_stop = output_should_stop_mpc
+      else:
+        a_target = min(output_a_target_mpc, output_a_target_e2e)
+        should_stop = output_should_stop_e2e or output_should_stop_mpc
    else:
      action_t = self.CP.longitudinalActuatorDelay + DT_MDL
      a_target, should_stop = get_accel_from_plan(longitudinalPlan.speeds, longitudinalPlan.accels,
                                                  action_t=action_t, vEgoStopping=frogpilot_toggles.vEgoStopping)
-    longitudinalPlan.aTarget = a_target
-    longitudinalPlan.shouldStop = should_stop
+    longitudinalPlan.aTarget = float(a_target)
+    longitudinalPlan.shouldStop = bool(should_stop)
    longitudinalPlan.allowBrake = True
    longitudinalPlan.allowThrottle = self.allow_throttle

@@ -39,12 +39,13 @@ def plannerd_thread():

  classic_model = frogpilot_toggles.classic_model
  radarless_model = frogpilot_toggles.radarless_model
+  tomb_raider = frogpilot_toggles.model == "tomb-raider"

  while True:
    sm.update()
    if sm.updated['modelV2']:
-      longitudinal_planner.update(radarless_model, sm, frogpilot_toggles)
-      longitudinal_planner.publish(classic_model, sm, pm, frogpilot_toggles)
+      longitudinal_planner.update(radarless_model, tomb_raider, sm, frogpilot_toggles)
+      longitudinal_planner.publish(classic_model, tomb_raider, sm, pm, frogpilot_toggles)
      publish_ui_plan(sm, pm, longitudinal_planner)

    # Update FrogPilot parameters
@@ -79,7 +79,7 @@ class Track:

    # Learn if constant acceleration
    if abs(self.aLeadK) < 0.5:
-      self.aLeadTau.x = min(max(self.aLeadTau, 1e-2) * 1.1, _LEAD_ACCEL_TAU)
+      self.aLeadTau.x = min(max(self.aLeadTau.x, 1e-2) * 1.1, _LEAD_ACCEL_TAU)
    else:
      self.aLeadTau.update(0.0)

@@ -179,7 +179,6 @@ class Soundd:
        self.update_alert(AudibleAlert.fart)
      else:
        self.update_alert(AudibleAlert.prompt)
-
      self.openpilot_crashed_played = True
    elif sm.updated['controlsState']:
      new_alert = sm['controlsState'].alertSound.raw
@@ -216,28 +215,22 @@ class Soundd:
        sm.update(0)

        if sm.updated['microphone'] and self.current_alert == AudibleAlert.none: # only update volume filter when not playing alert
-          self.spl_filter_weighted.update(sm["microphone"].soundPressureWeightedDb)
-
          if self.frogpilot_toggles.alert_volume_control:
+            self.spl_filter_weighted.update(sm["microphone"].soundPressureWeightedDb)
            self.auto_volume = self.calculate_volume(float(self.spl_filter_weighted.x))
            self.current_volume = 0.0
          else:
+            self.spl_filter_weighted.update(sm["microphone"].soundPressureWeightedDb)
            self.current_volume = self.calculate_volume(float(self.spl_filter_weighted.x))

        elif self.frogpilot_toggles.alert_volume_control and self.current_alert in self.volume_map:
          self.current_volume = self.volume_map[self.current_alert] / 100.0
          if self.current_volume == 1.01:
-            if self.current_alert == AudibleAlert.startup:
-              self.current_volume = MAX_VOLUME
-            else:
-              self.current_volume = self.auto_volume
+            self.current_volume = self.auto_volume

        elif self.current_alert in self.random_events_map:
          self.current_volume = self.random_events_map[self.current_alert]

-        elif self.current_alert == AudibleAlert.startup:
-          self.current_volume = MAX_VOLUME
-
        self.get_audible_alert(sm)

        rk.keep_time()
@@ -247,7 +240,6 @@ class Soundd:
        # Update FrogPilot parameters
        if sm['frogpilotPlan'].togglesUpdated:
          self.frogpilot_toggles = get_frogpilot_toggles()
-
          self.update_frogpilot_sounds()

        if self.restart_stream:
@@ -271,7 +263,6 @@ class Soundd:
      AudibleAlert.warningImmediate: self.frogpilot_toggles.warningImmediate_volume,

      AudibleAlert.goat: self.frogpilot_toggles.prompt_volume,
-      AudibleAlert.startup: self.frogpilot_toggles.engage_volume,
    }

    if self.frogpilot_toggles.sound_pack != "stock":
@@ -1,9 +1,9 @@
 [
  {
    "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-5674ea6767e7198cf1e7def3de66a57061f001ed76d43dc4b4f84de545c53c6f.img.xz",
-    "hash": "5674ea6767e7198cf1e7def3de66a57061f001ed76d43dc4b4f84de545c53c6f",
-    "hash_raw": "5674ea6767e7198cf1e7def3de66a57061f001ed76d43dc4b4f84de545c53c6f",
+    "url": "https://boot.frogpilot.download",
+    "hash": "b997aae3f1c93de82449ef7f23f30ff482b0978f3d0ac08219366f9ce362ad7a",
+    "hash_raw": "b997aae3f1c93de82449ef7f23f30ff482b0978f3d0ac08219366f9ce362ad7a",
    "size": 16029696,
    "sparse": false,
    "full_check": true,
@@ -61,9 +61,9 @@
  },
  {
    "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-1badfe72851628d6cf9200a53a6151bb4e797b49c717141409fc57138eae388a.img.xz",
-    "hash": "328e90c62068222dfd98f71dd3f6251fcb962f082b49c6be66ab2699f5db6f4f",
-    "hash_raw": "1badfe72851628d6cf9200a53a6151bb4e797b49c717141409fc57138eae388a",
+    "url": "https://system.frogpilot.download",
+    "hash": "be1c6bb9ee5e06779087b1b81e09b6df61d942566b0f8d4539c452179c661782",
+    "hash_raw": "a5f84e68d199466fda5c9aead760b90a4cd2d2ef9a418708b9794d95bb03ec5b",
    "size": 10737418240,
    "sparse": true,
    "full_check": false,
@@ -74,4 +74,4 @@
      "size": 4548070000
    }
  }
-]
+]
@@ -168,18 +168,24 @@ def extract_compressed_image(target_slot_number: int, partition: dict, cloudlog)
        last_p = p
        print(f"Installing {partition['name']}: {p}", flush=True)

-    if raw_hash.hexdigest().lower() != partition['hash_raw'].lower():
-      raise Exception(f"Raw hash mismatch '{raw_hash.hexdigest().lower()}'")
+    written_size = out.tell()
+    expected_size = partition['size']
+    actual_raw_hash = raw_hash.hexdigest().lower()
+    expected_raw_hash = partition['hash_raw'].lower()
+    actual_final_hash = downloader.sha256.hexdigest().lower()
+    expected_final_hash = partition['hash'].lower()

-    if downloader.sha256.hexdigest().lower() != partition['hash'].lower():
-      raise Exception("Uncompressed hash mismatch")
+    if actual_raw_hash != expected_raw_hash:
+      raise Exception(f"Raw hash mismatch: got {actual_raw_hash}, expected {expected_raw_hash}")

-    if out.tell() != partition['size']:
-      raise Exception("Uncompressed size mismatch")
+    if actual_final_hash != expected_final_hash:
+      raise Exception(f"Uncompressed hash mismatch: got {actual_final_hash}, expected {expected_final_hash}")
+
+    if written_size != expected_size:
+      raise Exception(f"Uncompressed size mismatch: wrote {written_size} bytes, expected {expected_size} bytes")

    os.sync()

-
 def extract_casync_image(target_slot_number: int, partition: dict, cloudlog):
  path = get_partition_path(target_slot_number, partition)
  seed_path = path[:-1] + ('b' if path[-1] == 'a' else 'a')
Author	SHA1	Message	Date
firestar5683	5896d6ec95	Logging	2025-06-01 21:25:17 -05:00
firestar5683	9aef7e0658	Mochi's ASCM\|SASCM Port	2025-06-01 21:18:11 -05:00
firestar5683	aedb1345be	Update tinygrad_modeld.py	2025-05-31 12:59:36 -05:00
firestar5683	87620e4627	Revert "Update interface.py" This reverts commit `a77479be53`.	2025-05-30 17:03:22 -05:00
firestar5683	a77479be53	Update interface.py	2025-05-28 17:43:18 -05:00
FrogAi	db1a4663a8	agnos 10.1.1	2025-05-28 16:51:28 -05:00
firestar5683	7f2207986e	Vikander Model	2025-05-28 16:51:28 -05:00
firestar5683	248a301ab4	Update interface.py Update interface.py	2025-05-28 16:51:27 -05:00
firestar5683	b78eaed1cc	Vikander Model	2025-05-19 22:37:13 -05:00
firestar5683	467ef9cd2d	TRv7 w DTR Update tinygrad_modeld.py	2025-05-19 22:36:17 -05:00
firestar5683	df6a213638	Tomb Raider 6	2025-05-19 22:36:17 -05:00
firestar5683	9bfd6b9b46	Restore Sanity AHHHHHHH	2025-05-18 13:21:12 -05:00
firestar5683	97a747cb06	Update radard.py	2025-05-15 15:55:57 -05:00
firestar5683	ffd3da0a28	Update interface.py	2025-05-12 15:12:26 -05:00
firestar5683	09725ef72d	Revert "Update interface.py" This reverts commit `acba330a0f`.	2025-05-12 13:22:54 -05:00
firestar5683	acba330a0f	Update interface.py Update interface.py	2025-05-12 13:22:49 -05:00
firestar5683	81b648af77	panda	2025-05-09 19:12:10 -05:00
firestar5683	c705902141	Update gm_global_a_powertrain_generated.dbc	2025-05-09 18:44:17 -05:00
firestar5683	9c349ff81e	kaofui	2025-05-06 16:57:25 -05:00