diff --git a/opendbc_repo/opendbc/car/gm/carcontroller.py b/opendbc_repo/opendbc/car/gm/carcontroller.py index 89c0dabf..b60bc9c6 100644 --- a/opendbc_repo/opendbc/car/gm/carcontroller.py +++ b/opendbc_repo/opendbc/car/gm/carcontroller.py @@ -371,9 +371,11 @@ class CarController(CarControllerBase): self.apply_brake = int(min(-100 * stop_accel, self.params.MAX_BRAKE)) else: long_pitch_enabled = bool(getattr(frogpilot_toggles, "long_pitch", True)) + pedal_long_path = bool(self.CP.enableGasInterceptorDEPRECATED and (self.CP.flags & GMFlags.PEDAL_LONG.value)) + long_pitch_for_powertrain = long_pitch_enabled and not pedal_long_path if self.is_volt: - if long_pitch_enabled and len(CC.orientationNED) == 3 and CS.out.vEgo > self.CP.vEgoStopping: + if long_pitch_for_powertrain and len(CC.orientationNED) == 3 and CS.out.vEgo > self.CP.vEgoStopping: volt_pitch_accel = math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY else: volt_pitch_accel = 0.0 @@ -397,7 +399,7 @@ class CarController(CarControllerBase): if self.apply_brake > 0: self.apply_gas = self.params.INACTIVE_REGEN else: - if long_pitch_enabled and len(CC.orientationNED) == 3 and CS.out.vEgo > self.CP.vEgoStopping: + if long_pitch_for_powertrain and len(CC.orientationNED) == 3 and CS.out.vEgo > self.CP.vEgoStopping: accel_due_to_pitch = math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY else: accel_due_to_pitch = 0.0 @@ -427,7 +429,7 @@ class CarController(CarControllerBase): if self.CP.carFingerprint in CC_ONLY_CAR: # gas interceptor only used for full long control on cars without ACC pedal_accel_cmd = actuators.accel - if (long_pitch_enabled and + if (long_pitch_for_powertrain and len(CC.orientationNED) == 3 and CS.out.vEgo > self.CP.vEgoStopping): pedal_accel_cmd += math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY