From d82173e685b5fda752494e11fa97e836190325a7 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 20 Apr 2022 22:28:56 -0700
Subject: [PATCH] Toyota: resolve controls mismatch due to interceptor
 thresholds (#23710)

* remove gas interceptor exception

* panda

* bump submodules

* bump panda

* forgot carstate change

* revert

* add test route

* bump

* update refs for CS.gas

* bump submodules to master
old-commit-hash: 17cb65c4b75987e4fa6630a02f384e27f1472d13
---
 opendbc                                  | 2 +-
 panda                                    | 2 +-
 selfdrive/car/tests/routes.py            | 1 +
 selfdrive/car/tests/test_models.py       | 9 ++-------
 selfdrive/car/toyota/carstate.py         | 4 ++--
 selfdrive/test/process_replay/ref_commit | 2 +-
 6 files changed, 8 insertions(+), 12 deletions(-)

diff --git a/opendbc b/opendbc
index 9f3902657d..e19ba095c3 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 9f3902657df4ff2d359d6c1686d7c008d27b7c7a
+Subproject commit e19ba095c3ee288d629284e24ec7e0deaf645f3f
diff --git a/panda b/panda
index c925407461..a1d97f9a0b 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit c925407461e46adf3282494af6daa00b2626ebb8
+Subproject commit a1d97f9a0b33c4574b0e94a3c78c5a886cc95faa
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index b4c506424c..a26d6dcd04 100644
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -209,6 +209,7 @@ routes = [
   # Segments that test specific issues
   # Controls mismatch due to interceptor threshold
   TestRoute("cfb32f0fb91b173b|2022-04-06--14-54-45", HONDA.CIVIC, segment=21),
+  TestRoute("5a8762b91fc70467|2022-04-14--21-26-20", TOYOTA.RAV4, segment=2),
   # Controls mismatch due to standstill threshold
   TestRoute("bec2dcfde6a64235|2022-04-08--14-21-32", HONDA.CRV_HYBRID, segment=22),
 ]
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 962778097d..4368619926 100755
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -209,13 +209,7 @@ class TestCarModel(unittest.TestCase):
 
       # TODO: check rest of panda's carstate (steering, ACC main on, etc.)
 
-      # TODO: make the interceptor thresholds in openpilot and panda match, then remove this exception
-      gas_pressed = CS.gasPressed
-      if self.CP.enableGasInterceptor and gas_pressed and not self.safety.get_gas_pressed_prev():
-        # panda intentionally has a higher threshold
-        if self.CP.carName == "toyota" and 15 < CS.gas < 15*1.5:
-          gas_pressed = False
-      checks['gasPressed'] += gas_pressed != self.safety.get_gas_pressed_prev()
+      checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev()
 
       # TODO: remove this exception once this mismatch is resolved
       brake_pressed = CS.brakePressed
@@ -257,5 +251,6 @@ class TestCarModel(unittest.TestCase):
     failed_checks = {k: v for k, v in checks.items() if v > 0}
     self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}")
 
+
 if __name__ == "__main__":
   unittest.main()
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index a951955505..dea4263d7e 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -36,8 +36,8 @@ class CarState(CarStateBase):
     ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0
     ret.brakeHoldActive = cp.vl["ESP_CONTROL"]["BRAKE_HOLD_ACTIVE"] == 1
     if self.CP.enableGasInterceptor:
-      ret.gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2.
-      ret.gasPressed = ret.gas > 15
+      ret.gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) // 2
+      ret.gasPressed = ret.gas > 805
     else:
       # TODO: find a new, common signal
       msg = "GAS_PEDAL_HYBRID" if (self.CP.flags & ToyotaFlags.HYBRID) else "GAS_PEDAL"
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index f5f36782f0..37276f85cc 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-a959650f3dac9aaa4d9438f3126f5c34d35b3c62
\ No newline at end of file
+84bf66d9917e102f581279892d32a04c35fb4d87
\ No newline at end of file