Lower Volt enable speed

Co-Authored-By: Eric Brown <13560103+nworb-cire@users.noreply.github.com>

common/params.cc

@@ -286,6 +286,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"LongitudinalTune", PERSISTENT},
     {"LongPitch", PERSISTENT},
     {"LoudBlindspotAlert", PERSISTENT},
+    {"LowerVolt", PERSISTENT},
     {"ManualUpdateInitiated", CLEAR_ON_MANAGER_START},
     {"ModelUI", PERSISTENT},
     {"MuteOverheated", PERSISTENT},

selfdrive/car/gm/interface.py

@@ -171,6 +171,7 @@ class CarInterface(CarInterfaceBase):
     ret.longitudinalActuatorDelayUpperBound = 0.5  # large delay to initially start braking
 
     if candidate in (CAR.VOLT, CAR.VOLT_CC):
+      ret.minEnableSpeed = -1 if params.get_bool("LowerVolt") else ret.minEnableSpeed
       ret.mass = 1607.
       ret.wheelbase = 2.69
       ret.steerRatio = 17.7  # Stock 15.7, LiveParameters

selfdrive/frogpilot/ui/vehicle_settings.cc

@@ -112,6 +112,7 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(SettingsWindow *parent) : FrogPil
   std::vector<std::tuple<QString, QString, QString, QString>> vehicleToggles {
     {"GasRegenCmd", "GM Truck Gas Tune", "Increase acceleration and smoothen brake to stop. For use on Silverado/Sierra only.", ""},
     {"LongPitch", "Long Pitch Compensation", "Reduce speed and acceleration error for greater passenger comfort and improved vehicle efficiency.", ""},
+    {"LowerVolt", "Lower Volt Enable Speed", "Lower the Volt's minimum enable speed to enable openpilot at any speed.", ""},
 
     {"LockDoors", "Lock Doors In Drive", "Automatically lock the doors when in drive and unlock when in park.", ""},
     {"LongitudinalTune", "Longitudinal Tune", "Use a custom Toyota longitudinal tune.\n\nCydia = More focused on TSS-P vehicles but works for all Toyotas\n\nDragonPilot = Focused on TSS2 vehicles\n\nFrogPilot = Takes the best of both worlds with some personal tweaks focused around my 2019 Lexus ES 350", ""},
@@ -154,7 +155,7 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(SettingsWindow *parent) : FrogPil
     });
   }
 
-  std::set<std::string> rebootKeys = {"GasRegenCmd"};
+  std::set<std::string> rebootKeys = {"GasRegenCmd", "LowerVolt"};
   for (const std::string &key : rebootKeys) {
     QObject::connect(toggles[key], &ToggleControl::toggleFlipped, [this]() {
       if (started) {

selfdrive/frogpilot/ui/vehicle_settings.h

@@ -28,7 +28,7 @@ private:
 
   std::map<std::string, ParamControl*> toggles;
 
-  std::set<QString> gmKeys = {"GasRegenCmd", "LongPitch"};
+  std::set<QString> gmKeys = {"GasRegenCmd", "LongPitch", "LowerVolt"};
   std::set<QString> subaruKeys = {};
   std::set<QString> toyotaKeys = {"LockDoors", "LongitudinalTune"};