Subaru: match panda standstill (#25789)

* subaru: match panda standstill

* subaru: match panda standstill

* actually test standstill

* bump panda to master

panda

@@ -1 +1 @@
-Subproject commit 19983f13b37518298a3c282d5069c090b68f6864
+Subproject commit f120999e19fed7208534ae74b542b5cca6bafeaa

selfdrive/car/subaru/carstate.py

@@ -32,9 +32,8 @@ class CarState(CarStateBase):
       cp_wheels.vl["Wheel_Speeds"]["RR"],
     )
     ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
-    # Kalman filter, even though Subaru raw wheel speed is heaviliy filtered by default
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    ret.standstill = ret.vEgoRaw < 0.01
+    ret.standstill = ret.vEgoRaw == 0
 
     # continuous blinker signals for assisted lane change
     ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["Dashlights"]["LEFT_BLINKER"],
@@ -50,7 +49,7 @@ class CarState(CarStateBase):
     ret.steeringAngleDeg = cp.vl["Steering_Torque"]["Steering_Angle"]
     ret.steeringTorque = cp.vl["Steering_Torque"]["Steer_Torque_Sensor"]
     ret.steeringTorqueEps = cp.vl["Steering_Torque"]["Steer_Torque_Output"]
-    
+
     steer_threshold = 75 if self.CP.carFingerprint in PREGLOBAL_CARS else 80
     ret.steeringPressed = abs(ret.steeringTorque) > steer_threshold
 
@@ -313,4 +312,4 @@ class CarState(CarStateBase):
       checks += CarState.get_global_es_distance_signals()[1]
       return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 1)
 
-    return None
+    return None

selfdrive/car/tests/routes.py

@@ -194,7 +194,7 @@ routes = [
   CarTestRoute("c321c6b697c5a5ff|2020-06-23--11-04-33", SUBARU.FORESTER),
   CarTestRoute("791340bc01ed993d|2019-03-10--16-28-08", SUBARU.IMPREZA),
   CarTestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.IMPREZA_2020),
-  CarTestRoute("1bbe6bf2d62f58a8|2022-07-14--17-11-43", SUBARU.OUTBACK, segment=3),
+  CarTestRoute("1bbe6bf2d62f58a8|2022-07-14--17-11-43", SUBARU.OUTBACK, segment=10),
   CarTestRoute("c56e69bbc74b8fad|2022-08-18--09-43-51", SUBARU.LEGACY, segment=3),
   # Pre-global, dashcam
   CarTestRoute("95441c38ae8c130e|2020-06-08--12-10-17", SUBARU.FORESTER_PREGLOBAL),

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