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

@@ -1 +1 @@
-Subproject commit b2ffaae60ee73581f58b0cab757d5ac09db9dd5c
+Subproject commit 1b49d3e830f6d894f9daf820f956f315fd951428

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):
+    ret.gas = cp.vl["EMS12"]['PV_AV_CAN'] / 100
-      pedal_gas = 0
+    ret.gasPressed = cp.vl["EMS16"]["CF_Ems_AclAct"] != 0
-    else:
-      pedal_gas = cp.vl["EMS12"]['TPS']
-    ret.gasPressed = pedal_gas > 1e-3
-    ret.gas = cp.vl["EMS12"]['TPS']
     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),

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-bc912a9ead7664ae4e393a7dc7cd38ba733dd694
+0d18f87c308ce685f1010b81b65c62780f2c0c35