From 98b821fb1a2e1684855c7b51ba6c7177cdef5d4f Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 15 Sep 2022 21:21:10 -0700
Subject: [PATCH] GM minSteerSpeed: add some tolerance for Volt (#25809)

* add some tolerance for volts

* add comment

* update refs
old-commit-hash: b7dc1968cd4c61d33f96124b36d8d7a48957748f
---
 selfdrive/car/gm/interface.py            | 3 ++-
 selfdrive/test/process_replay/ref_commit | 2 +-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 93be57cf21..22ea83759a 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -74,7 +74,8 @@ class CarInterface(CarInterfaceBase):
     ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL, CAR.EQUINOX, CAR.BOLT_EV}
 
     # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
-    ret.minSteerSpeed = 10 * CV.KPH_TO_MS
+    # Some GMs need some tolerance above 10 kph to avoid a fault
+    ret.minSteerSpeed = 10.1 * CV.KPH_TO_MS
     ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
     ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
     ret.lateralTuning.pid.kf = 0.00004   # full torque for 20 deg at 80mph means 0.00007818594
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 062611316c..b1a2785ba3 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-147410f09f242f05b922c9cc7ac04c3c3366419c
\ No newline at end of file
+a4aa1f37c6d966151d3b43a0b51fffbcfa0187b1
\ No newline at end of file