migration: remove disengage on gas alternative experience (#35267)

* fix

* done

* test

* update refs

selfdrive/test/process_replay/migration.py

@@ -22,12 +22,12 @@ MigrationOps = tuple[list[tuple[int, capnp.lib.capnp._DynamicStructReader]], lis
 MigrationFunc = Callable[[list[MessageWithIndex]], MigrationOps]
 
 
-## rules for migration functions
+# rules for migration functions
-## 1. must use the decorator @migration(inputs=[...], product="...") and MigrationFunc signature
+# 1. must use the decorator @migration(inputs=[...], product="...") and MigrationFunc signature
-## 2. it only gets the messages that are in the inputs list
+# 2. it only gets the messages that are in the inputs list
-## 3. product is the message type created by the migration function, and the function will be skipped if product type already exists in lr
+# 3. product is the message type created by the migration function, and the function will be skipped if product type already exists in lr
-## 4. it must return a list of operations to be applied to the logreader (replace, add, delete)
+# 4. it must return a list of operations to be applied to the logreader (replace, add, delete)
-## 5. all migration functions must be independent of each other
+# 5. all migration functions must be independent of each other
 def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: bool = False, camera_states: bool = False):
   migrations = [
     migrate_sensorEvents,
@@ -306,6 +306,8 @@ def migrate_pandaStates(msgs):
     elif msg.which() == 'pandaStates':
       new_msg = msg.as_builder()
       new_msg.pandaStates[-1].safetyParam = safety_param
+      # Clear DISABLE_DISENGAGE_ON_GAS bit to fix controls mismatch
+      new_msg.pandaStates[-1].alternativeExperience &= ~1
       ops.append((index, new_msg.as_reader()))
   return ops, [], []
 

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-bc0a2e6eac422e574b6c670fe493d368df10ef42
+6602b004aa91decf3a1a4ab7ddaf77a99d7ebfc3