From 94bba46d6d25478fc32b4b6c4e187264b0d49e4a Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Mon, 27 Apr 2020 15:28:34 -0700
Subject: [PATCH] Hyundai: use same gas pressed bit as in panda (#1428)

* use same bit as in panda

* remove lines

* update ref

* switch gas pedal signal
---
 selfdrive/car/hyundai/carstate.py        | 15 +++++----------
 selfdrive/test/process_replay/ref_commit |  2 +-
 2 files changed, 6 insertions(+), 11 deletions(-)

diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index dcb5844c2c..12efefb4c5 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -54,13 +54,8 @@ class CarState(CarStateBase):
     ret.brakeLights = bool(cp.vl["TCS13"]['BrakeLight'] or ret.brakePressed)
 
     #TODO: find pedal signal for EV/HYBRID Cars
-    if (cp.vl["TCS13"]["DriverOverride"] == 0 and cp.vl["TCS13"]['ACC_REQ'] == 1):
-      pedal_gas = 0
-    else:
-      pedal_gas = cp.vl["EMS12"]['TPS']
-
-    ret.gasPressed = pedal_gas > 1e-3
-    ret.gas = pedal_gas
+    ret.gas = cp.vl["EMS12"]['PV_AV_CAN'] / 100
+    ret.gasPressed = bool(cp.vl["EMS16"]["CF_Ems_AclAct"])
 
     # TODO: refactor gear parsing in function
     # Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection, as this seems to be standard over all cars, but is not the preferred method.
@@ -163,10 +158,8 @@ class CarState(CarStateBase):
       ("CF_Clu_AliveCnt1", "CLU11", 0),
 
       ("ACCEnable", "TCS13", 0),
-      ("ACC_REQ", "TCS13", 0),
       ("BrakeLight", "TCS13", 0),
       ("DriverBraking", "TCS13", 0),
-      ("DriverOverride", "TCS13", 0),
 
       ("ESC_Off_Step", "TCS15", 0),
 
@@ -187,7 +180,8 @@ class CarState(CarStateBase):
       ("ACC_ObjDist", "SCC11", 0),
       ("ACCMode", "SCC12", 1),
 
-      ("TPS", "EMS12", 0),
+      ("PV_AV_CAN", "EMS12", 0),
+      ("CF_Ems_AclAct", "EMS16", 0),
     ]
 
     checks = [
@@ -204,6 +198,7 @@ class CarState(CarStateBase):
       ("SCC11", 50),
       ("SCC12", 50),
       ("EMS12", 100),
+      ("EMS16", 100),
     ]
     if CP.carFingerprint in FEATURES["use_cluster_gears"]:
       signals += [
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index d5b9592f0c..f342be5330 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-6ac6d827e466d5c8cfc7c0bafb2cd62acea00645
\ No newline at end of file
+783699128dfaeae66ecfd6ecd57ee19fe6d6e116
\ No newline at end of file