From bcce932117a6d26f54086778232308000128e2fc Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Mon, 6 Apr 2026 17:45:04 -0500
Subject: [PATCH] pedal creep

---
 opendbc_repo/opendbc/car/gm/carcontroller.py | 17 ++++++++++-------
 1 file changed, 10 insertions(+), 7 deletions(-)

diff --git a/opendbc_repo/opendbc/car/gm/carcontroller.py b/opendbc_repo/opendbc/car/gm/carcontroller.py
index 3b65dd0a..1ad3763a 100644
--- a/opendbc_repo/opendbc/car/gm/carcontroller.py
+++ b/opendbc_repo/opendbc/car/gm/carcontroller.py
@@ -178,20 +178,23 @@ class CarController(CarControllerBase):
     accel_gain = np.interp(v_ego, [0.0, 3.0, 8.0, 20.0], [0.47, 0.52, 0.57, 0.61])
     pedaloffset = np.interp(v_ego, [0.0, 1.0, 3.0, 6.0, 15.0, 30.0], [0.085, 0.11, 0.17, 0.23, 0.235, 0.23])
 
+    # Suppress tiny planner sign flaps around zero so creep-speed pedal shaping stays stable.
+    pedal_accel = 0.0 if abs(accel) < 0.04 else accel
+
     accel_term_scale = (1.0 / max(gain, 1e-3)) if press_regen_paddle else 1.0
-    if accel >= 0.0:
-      small_cmd_scale = np.interp(abs(accel), [0.0, 0.35, 0.8, 1.5, 2.5], [0.58, 0.68, 0.82, 0.93, 1.0])
+    if pedal_accel >= 0.0:
+      small_cmd_scale = np.interp(abs(pedal_accel), [0.0, 0.35, 0.8, 1.5, 2.5], [0.58, 0.68, 0.82, 0.93, 1.0])
     else:
-      small_cmd_scale = np.interp(abs(accel), [0.0, 0.35, 0.8, 1.5, 2.5], [0.44, 0.54, 0.70, 0.89, 1.0])
-    accel_cmd = accel * small_cmd_scale
-    if accel < -2.0:
-      accel_cmd *= np.interp(abs(accel), [2.0, 2.5, 3.0], [1.0, 1.03, 1.06])
+      small_cmd_scale = np.interp(abs(pedal_accel), [0.0, 0.35, 0.8, 1.5, 2.5], [0.44, 0.54, 0.70, 0.89, 1.0])
+    accel_cmd = pedal_accel * small_cmd_scale
+    if pedal_accel < -2.0:
+      accel_cmd *= np.interp(abs(pedal_accel), [2.0, 2.5, 3.0], [1.0, 1.03, 1.06])
     raw_pedal_gas = float(np.clip(pedaloffset + accel_cmd * accel_gain * accel_term_scale, 0.0, 1.0))
 
     pedal_gas_max = np.interp(v_ego, [0.0, 1.0, 2.5, 4.5, 6.0, 8.0, 12.0], [0.20, 0.235, 0.29, 0.365, 0.52, 0.78, 1.0])
     target_pedal_gas = float(np.clip(raw_pedal_gas, 0.0, pedal_gas_max))
 
-    if not self.pedal_active_last or switched_state:
+    if not self.pedal_active_last or (switched_state and v_ego > 1.0):
       pedal_gas = target_pedal_gas
       self.pedal_active_last = True
     else: