From a817d1c1e7e380262b511d9ae76e513dcce0729c Mon Sep 17 00:00:00 2001
From: rbiasini <riccardo.biasini@gmail.com>
Date: Sat, 22 Feb 2020 20:46:27 -0800
Subject: [PATCH] Hyundai: fix gas and gasPressed signals (#1152)

* Hyundai: fix gas and gasPressed signals

* upd panda

* update ref

Co-authored-by: Willem Melching <willem.melching@gmail.com>
---
 panda                                    |  2 +-
 selfdrive/car/hyundai/carstate.py        | 13 ++++---------
 selfdrive/test/process_replay/ref_commit |  2 +-
 3 files changed, 6 insertions(+), 11 deletions(-)

diff --git a/panda b/panda
index b2ffaae60e..1b49d3e830 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit b2ffaae60ee73581f58b0cab757d5ac09db9dd5c
+Subproject commit 1b49d3e830f6d894f9daf820f956f315fd951428
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index d3e62b0c64..59c825f44d 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -46,12 +46,8 @@ class CarState(CarStateBase):
     ret.brake = 0  # FIXME
     ret.brakePressed = cp.vl["TCS13"]['DriverBraking'] != 0
     ret.brakeLights = ret.brakePressed
-    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 = cp.vl["EMS12"]['TPS']
+    ret.gas = cp.vl["EMS12"]['PV_AV_CAN'] / 100
+    ret.gasPressed = cp.vl["EMS16"]["CF_Ems_AclAct"] != 0
     ret.espDisabled = cp.vl["TCS15"]['ESC_Off_Step'] != 0
 
     # Gear Selecton - This is not compatible with all Kia/Hyundai's, But is the best way for those it is compatible with
@@ -131,7 +127,7 @@ class CarState(CarStateBase):
 
       ("BRAKE_ACT", "EMS12", 0),
       ("PV_AV_CAN", "EMS12", 0),
-      ("TPS", "EMS12", 0),
+      ("CF_Ems_AclAct", "EMS16", 0),
 
       ("CYL_PRES", "ESP12", 0),
 
@@ -157,9 +153,7 @@ class CarState(CarStateBase):
       ("CUR_GR", "TCU12",0),
 
       ("ACCEnable", "TCS13", 0),
-      ("ACC_REQ", "TCS13", 0),
       ("DriverBraking", "TCS13", 0),
-      ("DriverOverride", "TCS13", 0),
 
       ("ESC_Off_Step", "TCS15", 0),
 
@@ -190,6 +184,7 @@ class CarState(CarStateBase):
       ("CLU11", 50),
       ("ESP12", 100),
       ("EMS12", 100),
+      ("EMS16", 100),
       ("CGW1", 10),
       ("CGW4", 5),
       ("WHL_SPD11", 50),
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index d4b1ef5914..81191df4b9 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-bc912a9ead7664ae4e393a7dc7cd38ba733dd694
\ No newline at end of file
+0d18f87c308ce685f1010b81b65c62780f2c0c35
\ No newline at end of file