From f20e33a2c55a486cf254fbd35bcdd07e157e1978 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 22 Mar 2023 00:23:51 -0700
Subject: [PATCH] GM: common longitudinal actuator delay (#27357)

* common longitudinal actuator delay

* comment

* remove dup

* move

* clean up

* Update ref_commit
old-commit-hash: aefe636cc1b415f4ebf63f71ae9ae298461e37ac
---
 selfdrive/car/gm/interface.py            | 4 +---
 selfdrive/test/process_replay/ref_commit | 2 +-
 2 files changed, 2 insertions(+), 4 deletions(-)

diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 602d7e31b6..f501c8c7dd 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -78,7 +78,6 @@ class CarInterface(CarInterfaceBase):
       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
@@ -113,6 +112,7 @@ class CarInterface(CarInterfaceBase):
 
     ret.steerLimitTimer = 0.4
     ret.radarTimeStep = 0.0667  # GM radar runs at 15Hz instead of standard 20Hz
+    ret.longitudinalActuatorDelayUpperBound = 0.5  # large delay to initially start braking
 
     if candidate == CAR.VOLT:
       ret.mass = 1607. + STD_CARGO_KG
@@ -148,7 +148,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 14.4  # end to end is 13.46
       ret.centerToFront = ret.wheelbase * 0.4
       ret.lateralTuning.pid.kf = 1.  # get_steer_feedforward_acadia()
-      ret.longitudinalActuatorDelayUpperBound = 0.5  # large delay to initially start braking
 
     elif candidate == CAR.BUICK_LACROSSE:
       ret.mass = 1712. + STD_CARGO_KG
@@ -175,7 +174,6 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.95  # 116 inches in meters
       ret.steerRatio = 17.3
       ret.centerToFront = ret.wheelbase * 0.5
-      ret.longitudinalActuatorDelayUpperBound = 0.5  # large delay to initially start braking
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     elif candidate == CAR.ESCALADE_ESV:
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 5f3db2fa88..d20b7f5d7a 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-ad3192c5ab1743bc1671c5c29816b360747cc3e0
+a4ee2bfc9a9518a23a4f0fac4df124d1f12deb79