Toyota: same standstill check as panda (#25570)

* Same standstill check as panda

* test honda in the same place

* bump panda

* bump panda

* bump panda

* bump to master

* bump panda
old-commit-hash: b34fe711b0

panda

@@ -1 +1 @@
-Subproject commit 1776165a3d902d6320965b6b6b1715bb9a25915b
+Subproject commit 6d2e2bde861a237593740526b466d17d43849a17

selfdrive/car/tests/test_models.py

@@ -234,6 +234,9 @@ class TestCarModelBase(unittest.TestCase):
 
       checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev()
       checks['cruiseState'] += CS.cruiseState.enabled and not CS.cruiseState.available
+      if self.CP.carName in ("honda", "toyota"):
+        # TODO: fix standstill mismatches for other makes
+        checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving()
 
       # TODO: remove this exception once this mismatch is resolved
       brake_pressed = CS.brakePressed
@@ -263,8 +266,6 @@ class TestCarModelBase(unittest.TestCase):
 
       if self.CP.carName == "honda":
         checks['mainOn'] += CS.cruiseState.available != self.safety.get_acc_main_on()
-        # TODO: fix standstill mismatches for other makes
-        checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving()
 
       CS_prev = CS
 

selfdrive/car/toyota/carstate.py

@@ -53,7 +53,7 @@ class CarState(CarStateBase):
     ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr])
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
 
-    ret.standstill = ret.vEgoRaw < 0.001
+    ret.standstill = ret.vEgoRaw == 0
 
     ret.steeringAngleDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_ANGLE"] + cp.vl["STEER_ANGLE_SENSOR"]["STEER_FRACTION"]
     torque_sensor_angle_deg = cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"]