Chrysler: remove standstill exception for gas disengage (#23515)

* Chrysler: remove standstill exception for gas disengage

* remove test exception

* bump panda

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

panda

@@ -1 +1 @@
-Subproject commit f5857bc8fd3e1d2c27df342df85e202c7e844911
+Subproject commit a96615d25309fc29bad4eff782ef1c5aabd9124b

selfdrive/car/chrysler/interface.py

@@ -60,8 +60,7 @@ class CarInterface(CarInterfaceBase):
     ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
 
     # events
-    events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low],
-                                       gas_resume_speed=2.)
+    events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low])
 
     if ret.vEgo < self.CP.minSteerSpeed:
       events.add(car.CarEvent.EventName.belowSteerSpeed)

selfdrive/car/interfaces.py

@@ -107,7 +107,7 @@ class CarInterfaceBase(ABC):
   def apply(self, c: car.CarControl) -> Tuple[car.CarControl.Actuators, List[bytes]]:
     pass
 
-  def create_common_events(self, cs_out, extra_gears=None, gas_resume_speed=-1, pcm_enable=True):
+  def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True):
     events = Events()
 
     if cs_out.doorOpen:
@@ -152,9 +152,7 @@ class CarInterfaceBase(ABC):
       events.add(EventName.steerUnavailable)
 
     # Disable on rising edge of gas or brake. Also disable on brake when speed > 0.
-    # Optionally allow to press gas at zero speed to resume.
-    # e.g. Chrysler does not spam the resume button yet, so resuming with gas is handy. FIXME!
-    if (cs_out.gasPressed and (not self.CS.out.gasPressed) and cs_out.vEgo > gas_resume_speed) or \
+    if (cs_out.gasPressed and not self.CS.out.gasPressed) or \
        (cs_out.brakePressed and (not self.CS.out.brakePressed or not cs_out.standstill)):
       events.add(EventName.pedalPressed)
 

selfdrive/test/test_models.py

@@ -12,7 +12,6 @@ from selfdrive.car.fingerprints import all_known_cars
 from selfdrive.car.car_helpers import interfaces
 from selfdrive.car.gm.values import CAR as GM
 from selfdrive.car.honda.values import HONDA_BOSCH, CAR as HONDA
-from selfdrive.car.chrysler.values import CAR as CHRYSLER
 from selfdrive.car.hyundai.values import CAR as HYUNDAI
 from selfdrive.test.test_routes import routes, non_tested_cars
 from selfdrive.test.openpilotci import get_url
@@ -33,11 +32,6 @@ ignore_can_valid = [
   HYUNDAI.SANTA_FE,
 ]
 
-ignore_carstate_check = [
-  # TODO: chrysler gas state in panda also checks wheel speed, refactor so it's only gas
-  CHRYSLER.PACIFICA_2017_HYBRID,
-]
-
 ignore_addr_checks_valid = [
   GM.BUICK_REGAL,
   HYUNDAI.GENESIS_G70_2020,
@@ -179,8 +173,6 @@ class TestCarModel(unittest.TestCase):
     """
     if self.CP.dashcamOnly:
       self.skipTest("no need to check panda safety for dashcamOnly")
-    if self.car_model in ignore_carstate_check:
-      self.skipTest("see comments in test_models.py")
 
     checks = defaultdict(lambda: 0)
     CC = car.CarControl.new_message()