could be 0.5

selfdrive/car/hyundai/carstate.py

@@ -69,14 +69,16 @@ class CarState(CarStateBase):
     if self.accurate_dash_speed_seen:
       self.vEgoCluster = accurate_dash_speed * speed_conv
     else:
-      self.cluster_speed_hyst_gap = CV.KPH_TO_MS / 2.5  # seems to be best at 0.111111 m/s
+      self.cluster_speed_hyst_gap = CV.KPH_TO_MS / 0.5  # seems to be best at 0.111111 m/s
       self.cluster_min_speed = CV.KPH_TO_MS
       # TODO: verify this is always metric
       ret.vEgoCluster = cp.vl["CLU15"]["CF_Clu_VehicleSpeed"] * CV.KPH_TO_MS
 
-    # # i've seen vEgoRaw get to 1-2 before cluster updates, so pick 6 mph to be safe
-    # if ret.vEgoRaw > 3 and len(cp.vl_all["CLU15"]["CF_Clu_VehicleSpeed"]):
-    #   assert cp.vl["CLU15"]["CF_Clu_VehicleSpeed"] > 0, (ret.vEgoRaw, cp.vl["CLU15"]["CF_Clu_VehicleSpeed2"], cp.vl["CLU15"]["CF_Clu_VehicleSpeed"] * speed_conv)
+    # i've seen vEgoRaw get to 1-2 before cluster updates, so pick 6 mph to be safe
+    if ret.vEgoRaw > 3 and len(cp.vl_all["CLU15"]["CF_Clu_VehicleSpeed"]):
+      assert abs(cp.vl["CLU15"]["CF_Clu_VehicleSpeed"] * CV.KPH_TO_MS - ret.vEgoRaw) < 2.5
+
+      assert cp.vl["CLU15"]["CF_Clu_VehicleSpeed"] > 0, (ret.vEgoRaw, cp.vl["CLU15"]["CF_Clu_VehicleSpeed2"], cp.vl["CLU15"]["CF_Clu_VehicleSpeed"] * speed_conv)
 
     ret.steeringAngleDeg = cp.vl["SAS11"]["SAS_Angle"]
     ret.steeringRateDeg = cp.vl["SAS11"]["SAS_Speed"]