Honda: resolve controls mismatch due to interceptor thresholds (#24173)

* make panda and openpilot thresholds match

* Revert "make panda and openpilot thresholds match"

This reverts commit dfcbd2058784de809564ada41e4cfbbfca7afe77.

* make panda and openpilot thresholds match

* remove interceptor scaling, compare int value

* remove honda exception

* bump panda

* bump opendbc

* add segment to check controls mismatch

* bump submodules

opendbc

@@ -1 +1 @@
-Subproject commit b928a205138975346a11fede0d3101e948875eee
+Subproject commit eb56fff37a4a2738df7add08779db51a0a6f38e2

panda

@@ -1 +1 @@
-Subproject commit cc0fdffee6eb5251331dc58ebc03057521e45b15
+Subproject commit c925407461e46adf3282494af6daa00b2626ebb8

selfdrive/car/honda/carstate.py

@@ -239,10 +239,12 @@ class CarState(CarStateBase):
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None))
 
     if self.CP.enableGasInterceptor:
-      ret.gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2.
+      # Same threshold as panda, equivalent to 1e-5 with previous DBC scaling
+      ret.gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) // 2
+      ret.gasPressed = ret.gas > 492
     else:
       ret.gas = cp.vl["POWERTRAIN_DATA"]["PEDAL_GAS"]
-    ret.gasPressed = ret.gas > 1e-5
+      ret.gasPressed = ret.gas > 1e-5
 
     ret.steeringTorque = cp.vl["STEER_STATUS"]["STEER_TORQUE_SENSOR"]
     ret.steeringTorqueEps = cp.vl["STEER_MOTOR_TORQUE"]["MOTOR_TORQUE"]

selfdrive/car/tests/routes.py

@@ -45,6 +45,8 @@ routes = [
 
   TestRoute("0e7a2ba168465df5|2020-10-18--14-14-22", HONDA.ACURA_RDX_3G),
   TestRoute("a74b011b32b51b56|2020-07-26--17-09-36", HONDA.CIVIC),
+  # Checks there's no controls mismatches due to pedal thresholds
+  TestRoute("cfb32f0fb91b173b|2022-04-06--14-54-45", HONDA.CIVIC, segment=21),
   TestRoute("a859a044a447c2b0|2020-03-03--18-42-45", HONDA.CRV_EU),
   TestRoute("68aac44ad69f838e|2021-05-18--20-40-52", HONDA.CRV),
   TestRoute("14fed2e5fa0aa1a5|2021-05-25--14-59-42", HONDA.CRV_HYBRID),

selfdrive/car/tests/test_models.py

@@ -215,8 +215,6 @@ class TestCarModel(unittest.TestCase):
         # panda intentionally has a higher threshold
         if self.CP.carName == "toyota" and 15 < CS.gas < 15*1.5:
           gas_pressed = False
-        if self.CP.carName == "honda":
-          gas_pressed = False
       checks['gasPressed'] += gas_pressed != self.safety.get_gas_pressed_prev()
 
       # TODO: remove this exception once this mismatch is resolved