Toyota: resolve controls mismatch due to interceptor thresholds (#23710)

* remove gas interceptor exception

* panda

* bump submodules

* bump panda

* forgot carstate change

* revert

* add test route

* bump

* update refs for CS.gas

* bump submodules to master

opendbc

@@ -1 +1 @@
-Subproject commit 9f3902657df4ff2d359d6c1686d7c008d27b7c7a
+Subproject commit e19ba095c3ee288d629284e24ec7e0deaf645f3f

panda

@@ -1 +1 @@
-Subproject commit c925407461e46adf3282494af6daa00b2626ebb8
+Subproject commit a1d97f9a0b33c4574b0e94a3c78c5a886cc95faa

selfdrive/car/tests/routes.py

@@ -209,6 +209,7 @@ routes = [
   # Segments that test specific issues
   # Controls mismatch due to interceptor threshold
   TestRoute("cfb32f0fb91b173b|2022-04-06--14-54-45", HONDA.CIVIC, segment=21),
+  TestRoute("5a8762b91fc70467|2022-04-14--21-26-20", TOYOTA.RAV4, segment=2),
   # Controls mismatch due to standstill threshold
   TestRoute("bec2dcfde6a64235|2022-04-08--14-21-32", HONDA.CRV_HYBRID, segment=22),
 ]

selfdrive/car/tests/test_models.py

@@ -209,13 +209,7 @@ class TestCarModel(unittest.TestCase):
 
       # TODO: check rest of panda's carstate (steering, ACC main on, etc.)
 
-      # TODO: make the interceptor thresholds in openpilot and panda match, then remove this exception
+      checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev()
-      gas_pressed = CS.gasPressed
-      if self.CP.enableGasInterceptor and gas_pressed and not self.safety.get_gas_pressed_prev():
-        # panda intentionally has a higher threshold
-        if self.CP.carName == "toyota" and 15 < CS.gas < 15*1.5:
-          gas_pressed = False
-      checks['gasPressed'] += gas_pressed != self.safety.get_gas_pressed_prev()
 
       # TODO: remove this exception once this mismatch is resolved
       brake_pressed = CS.brakePressed
@@ -257,5 +251,6 @@ class TestCarModel(unittest.TestCase):
     failed_checks = {k: v for k, v in checks.items() if v > 0}
     self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}")
 
+
 if __name__ == "__main__":
   unittest.main()

selfdrive/car/toyota/carstate.py

@@ -36,8 +36,8 @@ class CarState(CarStateBase):
     ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0
     ret.brakeHoldActive = cp.vl["ESP_CONTROL"]["BRAKE_HOLD_ACTIVE"] == 1
     if self.CP.enableGasInterceptor:
-      ret.gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2.
+      ret.gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) // 2
-      ret.gasPressed = ret.gas > 15
+      ret.gasPressed = ret.gas > 805
     else:
       # TODO: find a new, common signal
       msg = "GAS_PEDAL_HYBRID" if (self.CP.flags & ToyotaFlags.HYBRID) else "GAS_PEDAL"

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-a959650f3dac9aaa4d9438f3126f5c34d35b3c62
+84bf66d9917e102f581279892d32a04c35fb4d87