From 94c98f4dd2a569ee9f3ec82bf9d694f98e2a1f30 Mon Sep 17 00:00:00 2001
From: Tim Wilson <twilsonco@gmail.com>
Date: Mon, 9 Jan 2023 16:01:55 -0700
Subject: [PATCH] GM camera ACC: always set long tune (#26892)

* GM: set long tune for camera car w/o exp. mode

* same tuning

* update refs

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: a40efbdfcc3619528a2634d6b291c928c2374b4b
---
 selfdrive/car/gm/interface.py            | 18 +++++++++---------
 selfdrive/test/process_replay/ref_commit |  2 +-
 2 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 195df36a7f..856dcbaae5 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -68,20 +68,20 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
       ret.minEnableSpeed = 5 * CV.KPH_TO_MS
 
+      # Tuning for experimental long
+      ret.longitudinalTuning.kpV = [2.0, 1.5]
+      ret.longitudinalTuning.kiV = [0.72]
+      ret.stopAccel = -2.0
+      ret.stoppingDecelRate = 2.0  # reach brake quickly after enabling
+      ret.vEgoStopping = 0.25
+      ret.vEgoStarting = 0.25
+      ret.longitudinalActuatorDelayUpperBound = 0.5
+
       if experimental_long:
         ret.pcmCruise = False
         ret.openpilotLongitudinalControl = True
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
 
-        # Tuning
-        ret.longitudinalTuning.kpV = [2.0, 1.5]
-        ret.longitudinalTuning.kiV = [0.72]
-        ret.stopAccel = -2.0
-        ret.stoppingDecelRate = 2.0  # reach brake quickly after enabling
-        ret.vEgoStopping = 0.25
-        ret.vEgoStarting = 0.25
-        ret.longitudinalActuatorDelayUpperBound = 0.5
-
     else:  # ASCM, OBD-II harness
       ret.openpilotLongitudinalControl = True
       ret.networkLocation = NetworkLocation.gateway
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 603d2b2d96..24ec1c62de 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-557ffbf5a1c9cafba1ff8d6f3e2642df98b2d6e6
\ No newline at end of file
+6d30c77af7b3210b03f65b433c0a043a96ee39bc
\ No newline at end of file