From 1a2f936da56216cdc5f04573dbb70180111ccbf7 Mon Sep 17 00:00:00 2001
From: FrogAi <91348155+FrogAi@users.noreply.github.com>
Date: Fri, 12 Jan 2024 22:39:30 -0700
Subject: [PATCH] Lower Volt enable speed

Co-Authored-By: Eric Brown <13560103+nworb-cire@users.noreply.github.com>
---
 common/params.cc                           | 1 +
 selfdrive/car/gm/interface.py              | 1 +
 selfdrive/frogpilot/ui/vehicle_settings.cc | 3 ++-
 3 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/common/params.cc b/common/params.cc
index 95fc56f..447574c 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -261,6 +261,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"LockDoors", PERSISTENT},
     {"LongitudinalTune", PERSISTENT},
     {"LongPitch", PERSISTENT},
+    {"LowerVolt", PERSISTENT},
     {"ModelUI", PERSISTENT},
     {"MuteDM", PERSISTENT},
     {"MuteDoor", PERSISTENT},
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 6f55d2a..9b80ebd 100644
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -160,6 +160,7 @@ 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
diff --git a/selfdrive/frogpilot/ui/vehicle_settings.cc b/selfdrive/frogpilot/ui/vehicle_settings.cc
index a1b0fd3..5b08c2f 100644
--- a/selfdrive/frogpilot/ui/vehicle_settings.cc
+++ b/selfdrive/frogpilot/ui/vehicle_settings.cc
@@ -101,6 +101,7 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(SettingsWindow *parent) : FrogPil
   std::vector<std::tuple<QString, QString, QString, QString>> vehicleToggles {
     {"GasRegenCmd", "Gas Regen Cmd", "", ""},
     {"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.", ""},
   };
@@ -120,7 +121,7 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(SettingsWindow *parent) : FrogPil
   gmKeys = {"GasRegenCmd", "LongPitch"};
   toyotaKeys = {};
 
-  std::set<std::string> rebootKeys = {};
+  std::set<std::string> rebootKeys = {"LowerVolt"};
   for (const std::string &key : rebootKeys) {
     QObject::connect(toggles[key], &ToggleControl::toggleFlipped, [this]() {
       if (FrogPilotConfirmationDialog::toggle("Reboot required to take effect.", "Reboot Now", this)) {