Add Full GM GasRegenCmd

selfdrive/car/gm/interface.py

@@ -7,7 +7,7 @@ from openpilot.common.conversions import Conversions as CV
 from openpilot.common.params import Params
 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
+from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus, GMFlags, CC_ONLY_CAR, SLOW_ACC
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD
 from openpilot.selfdrive.controls.lib.drive_helpers import get_friction
 
@@ -78,6 +78,7 @@ class CarInterface(CarInterfaceBase):
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     # FrogPilot variables
     params = params()
+    useGasRegenCmd = params.get_bool("GasRegenCmd")
 
     ret.carName = "gm"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
@@ -110,6 +111,9 @@ class CarInterface(CarInterfaceBase):
       ret.vEgoStopping = 0.25
       ret.vEgoStarting = 0.25
 
+      if candidate in SLOW_ACC and useGasRegenCmd:
+        ret.longitudinalTuning.kpV = [1.5, 1.125]
+
       if experimental_long:
         ret.pcmCruise = False
         ret.openpilotLongitudinalControl = True
@@ -239,6 +243,8 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 16.3
       ret.centerToFront = ret.wheelbase * 0.5
       ret.tireStiffnessFactor = 1.0
+      if useGasRegenCmd:
+        ret.stopAccel = -0.25
       # On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop
       # with foot on brake to allow engagement, but this platform only has that check in the camera.
       # TODO: check if this is split by EV/ICE with more platforms in the future