GM: match panda & ECM standstill checks (#26095)

* gm: match panda standstill check

* fix

* needs to be <= 10 to avoid a fault, fix for safety tests

* fix

* fix

* bump panda to master

panda

@@ -1 +1 @@
-Subproject commit 9ed3f75f67c3e5f00f910c8d7497ebed63851b5a
+Subproject commit b95a65df58fea89b42b7c6b4fc85289b93a0bdb2

selfdrive/car/gm/carstate.py

@@ -8,6 +8,7 @@ from selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD
 
 TransmissionType = car.CarParams.TransmissionType
 NetworkLocation = car.CarParams.NetworkLocation
+STANDSTILL_THRESHOLD = 10 * 0.0311 * CV.KPH_TO_MS
 
 
 class CarState(CarStateBase):
@@ -39,7 +40,8 @@ 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 < 0.01
+    # sample rear wheel speeds, standstill=True if ECM allows engagement with brake
+    ret.standstill = ret.wheelSpeeds.rl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD
 
     if pt_cp.vl["ECMPRDNL2"]["ManualMode"] == 1:
       ret.gearShifter = self.parse_gear_shifter("T")

selfdrive/car/tests/test_models.py

@@ -234,7 +234,7 @@ 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 not in ("hyundai", "volkswagen", "gm", "body"):
+      if self.CP.carName not in ("hyundai", "volkswagen", "body"):
         # TODO: fix standstill mismatches for other makes
         checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving()