Hyundai: match panda standstill check (#29442)

* bump panda

* clean up

* common?

* Revert "common?" (not now)

This reverts commit 197af7cdbb6a8c8e58fcbccca94f7db004ce91e4.

* fix

* no failures!

* remove time

* bump

* bump

* undo
old-commit-hash: 9d0d59ac9b

panda

@@ -1 +1 @@
-Subproject commit cfff3386c52d0dcf583c16acc6498f0f243d4c6a
+Subproject commit 1f475a8affc5270227af18e9c418b5fcd12575b9

selfdrive/car/hyundai/carstate.py

@@ -12,6 +12,7 @@ from selfdrive.car.interfaces import CarStateBase
 
 PREV_BUTTON_SAMPLES = 8
 CLUSTER_SAMPLE_RATE = 20  # frames
+STANDSTILL_THRESHOLD = 12 * 0.03125 * CV.KPH_TO_MS
 
 
 class CarState(CarStateBase):
@@ -72,7 +73,7 @@ class CarState(CarStateBase):
     )
     ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    ret.standstill = ret.vEgoRaw < 0.1
+    ret.standstill = ret.wheelSpeeds.fl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD
 
     self.cluster_speed_counter += 1
     if self.cluster_speed_counter > CLUSTER_SAMPLE_RATE:
@@ -191,7 +192,7 @@ class CarState(CarStateBase):
     )
     ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    ret.standstill = ret.vEgoRaw < 0.1
+    ret.standstill = ret.wheelSpeeds.fl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD
 
     ret.steeringRateDeg = cp.vl["STEERING_SENSORS"]["STEERING_RATE"]
     ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEERING_ANGLE"] * -1

selfdrive/car/tests/test_models.py

@@ -322,7 +322,7 @@ class TestCarModelBase(unittest.TestCase):
       # TODO: check rest of panda's carstate (steering, ACC main on, etc.)
 
       checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev()
-      if self.CP.carName not in ("hyundai", "body"):
+      if self.CP.carName not in ("body",):
         # TODO: fix standstill mismatches for other makes
         checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving()