Apply unsafe allow gas mode to all cars. (#480)

Apply unsafe iso accel/decel limit to toyota.

board/safety/safety_chrysler.h

@@ -74,6 +74,8 @@ static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
                                  chrysler_get_checksum, chrysler_compute_checksum,
                                  chrysler_get_counter);
 
+  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
+
   if (valid && (GET_BUS(to_push) == 0)) {
     int addr = GET_ADDR(to_push);
 
@@ -107,7 +109,7 @@ static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     // exit controls on rising edge of gas press
     if (addr == 308) {
       bool gas_pressed = (GET_BYTE(to_push, 5) & 0x7F) != 0;
-      if (gas_pressed && !gas_pressed_prev && (chrysler_speed > CHRYSLER_GAS_THRSLD)) {
+      if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev && (chrysler_speed > CHRYSLER_GAS_THRSLD)) {
         controls_allowed = 0;
       }
       gas_pressed_prev = gas_pressed;

board/safety/safety_ford.h

@@ -13,6 +13,7 @@ static int ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   int addr = GET_ADDR(to_push);
   int bus = GET_BUS(to_push);
+  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
 
   if (addr == 0x217) {
     // wheel speeds are 14 bits every 16
@@ -47,7 +48,7 @@ static int ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // exit controls on rising edge of gas press
   if (addr == 0x204) {
     bool gas_pressed = ((GET_BYTE(to_push, 0) & 0x03) | GET_BYTE(to_push, 1)) != 0;
-    if (gas_pressed && !gas_pressed_prev) {
+    if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
       controls_allowed = 0;
     }
     gas_pressed_prev = gas_pressed;
@@ -72,7 +73,11 @@ static int ford_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   // disallow actuator commands if gas or brake (with vehicle moving) are pressed
   // and the the latching controls_allowed flag is True
-  int pedal_pressed = gas_pressed_prev || (brake_pressed_prev && ford_moving);
+  int pedal_pressed = brake_pressed_prev && ford_moving;
+  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
+  if (!unsafe_allow_gas) {
+    pedal_pressed = pedal_pressed || gas_pressed_prev;
+  }
   bool current_controls_allowed = controls_allowed && !(pedal_pressed);
 
   if (relay_malfunction) {

board/safety/safety_gm.h

@@ -44,6 +44,8 @@ static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   bool valid = addr_safety_check(to_push, gm_rx_checks, GM_RX_CHECK_LEN,
                                  NULL, NULL, NULL);
 
+  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
+
   if (valid && (GET_BUS(to_push) == 0)) {
     int addr = GET_ADDR(to_push);
 
@@ -91,7 +93,7 @@ static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     // exit controls on rising edge of gas press
     if (addr == 417) {
       bool gas_pressed = GET_BYTE(to_push, 6) != 0;
-      if (gas_pressed && !gas_pressed_prev) {
+      if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
         controls_allowed = 0;
       }
       gas_pressed_prev = gas_pressed;
@@ -138,7 +140,11 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   // disallow actuator commands if gas or brake (with vehicle moving) are pressed
   // and the the latching controls_allowed flag is True
-  int pedal_pressed = gas_pressed_prev || (brake_pressed_prev && gm_moving);
+  int pedal_pressed = brake_pressed_prev && gm_moving;
+  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
+  if (!unsafe_allow_gas) {
+    pedal_pressed = pedal_pressed || gas_pressed_prev;
+  }
   bool current_controls_allowed = controls_allowed && !pedal_pressed;
 
   // BRAKE: safety check

board/safety/safety_honda.h

@@ -72,6 +72,8 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
                               honda_get_checksum, honda_compute_checksum, honda_get_counter);
   }
 
+  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
+
   if (valid) {
     int addr = GET_ADDR(to_push);
     int len = GET_LEN(to_push);
@@ -121,7 +123,7 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     if ((addr == 0x201) && (len == 6)) {
       gas_interceptor_detected = 1;
       int gas_interceptor = GET_INTERCEPTOR(to_push);
-      if ((gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
+      if (!unsafe_allow_gas && (gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
           (gas_interceptor_prev <= HONDA_GAS_INTERCEPTOR_THRESHOLD)) {
         controls_allowed = 0;
       }
@@ -132,13 +134,13 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     if (!gas_interceptor_detected) {
       if (addr == 0x17C) {
         bool gas_pressed = GET_BYTE(to_push, 0) != 0;
-        if (gas_pressed && !gas_pressed_prev) {
+        if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
           controls_allowed = 0;
         }
         gas_pressed_prev = gas_pressed;
       }
     }
-    
+
     // disable stock Honda AEB in unsafe mode
     if ( !(unsafe_mode & UNSAFE_DISABLE_STOCK_AEB) ) {
       if ((bus == 2) && (addr == 0x1FA)) {
@@ -196,8 +198,11 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   // disallow actuator commands if gas or brake (with vehicle moving) are pressed
   // and the the latching controls_allowed flag is True
-  int pedal_pressed = gas_pressed_prev || (gas_interceptor_prev > HONDA_GAS_INTERCEPTOR_THRESHOLD) ||
+  int pedal_pressed = brake_pressed_prev && honda_moving;
-                      (brake_pressed_prev && honda_moving);
+  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
+  if (!unsafe_allow_gas) {
+    pedal_pressed = pedal_pressed || gas_pressed_prev || (gas_interceptor_prev > HONDA_GAS_INTERCEPTOR_THRESHOLD);
+  }
   bool current_controls_allowed = controls_allowed && !(pedal_pressed);
 
   // BRAKE: safety check

board/safety/safety_hyundai.h

@@ -30,6 +30,8 @@ static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   bool valid = addr_safety_check(to_push, hyundai_rx_checks, HYUNDAI_RX_CHECK_LEN,
                                  NULL, NULL, NULL);
 
+  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
+
   if (valid && GET_BUS(to_push) == 0) {
     int addr = GET_ADDR(to_push);
 
@@ -55,7 +57,7 @@ static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     // exit controls on rising edge of gas press
     if (addr == 608) {
       bool gas_pressed = (GET_BYTE(to_push, 7) >> 6) != 0;
-      if (gas_pressed && !gas_pressed_prev) {
+      if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
         controls_allowed = 0;
       }
       gas_pressed_prev = gas_pressed;

board/safety/safety_nissan.h

@@ -36,6 +36,8 @@ static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   bool valid = addr_safety_check(to_push, nissan_rx_checks, NISSAN_RX_CHECK_LEN,
                                  NULL, NULL, NULL);
 
+  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
+
   if (valid) {
     int bus = GET_BUS(to_push);
     int addr = GET_ADDR(to_push);
@@ -68,7 +70,7 @@ static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
           gas_pressed = GET_BYTE(to_push, 0) > 3;
         }
 
-        if (gas_pressed && !gas_pressed_prev) {
+        if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
           controls_allowed = 0;
         }
         gas_pressed_prev = gas_pressed;

board/safety/safety_subaru.h

@@ -67,6 +67,8 @@ static int subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
                               NULL, NULL, NULL);
   }
 
+  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
+
   if (valid && (GET_BUS(to_push) == 0)) {
     int addr = GET_ADDR(to_push);
     if (((addr == 0x119) && subaru_global) ||
@@ -116,7 +118,7 @@ static int subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
         ((addr == 0x140) && !subaru_global)) {
       int byte = subaru_global ? 4 : 0;
       bool gas_pressed = GET_BYTE(to_push, byte) != 0;
-      if (gas_pressed && !gas_pressed_prev) {
+      if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
         controls_allowed = 0;
       }
       gas_pressed_prev = gas_pressed;

board/safety/safety_toyota.h

@@ -14,7 +14,10 @@ const uint32_t TOYOTA_RT_INTERVAL = 250000;    // 250ms between real time checks
 
 // longitudinal limits
 const int TOYOTA_MAX_ACCEL = 1500;        // 1.5 m/s2
-const int TOYOTA_MIN_ACCEL = -3000;       // 3.0 m/s2
+const int TOYOTA_MIN_ACCEL = -3000;       // -3.0 m/s2
+
+const int TOYOTA_ISO_MAX_ACCEL = 2000;        // 2.0 m/s2
+const int TOYOTA_ISO_MIN_ACCEL = -3500;       // -3.5 m/s2
 
 const int TOYOTA_STANDSTILL_THRSLD = 100;  // 1kph
 const int TOYOTA_GAS_INTERCEPTOR_THRSLD = 475;  // ratio between offset and gain from dbc file
@@ -63,6 +66,8 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   bool valid = addr_safety_check(to_push, toyota_rx_checks, TOYOTA_RX_CHECKS_LEN,
                                  toyota_get_checksum, toyota_compute_checksum, NULL);
+  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
+
   if (valid && (GET_BUS(to_push) == 0)) {
     int addr = GET_ADDR(to_push);
 
@@ -121,7 +126,7 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     if (addr == 0x201) {
       gas_interceptor_detected = 1;
       int gas_interceptor = GET_INTERCEPTOR(to_push);
-      if ((gas_interceptor > TOYOTA_GAS_INTERCEPTOR_THRSLD) &&
+      if (!unsafe_allow_gas && (gas_interceptor > TOYOTA_GAS_INTERCEPTOR_THRSLD) &&
           (gas_interceptor_prev <= TOYOTA_GAS_INTERCEPTOR_THRSLD)) {
         controls_allowed = 0;
       }
@@ -131,7 +136,7 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     // exit controls on rising edge of gas press
     if (addr == 0x2C1) {
       bool gas_pressed = GET_BYTE(to_push, 6) != 0;
-      if (gas_pressed && !gas_pressed_prev && !gas_interceptor_detected) {
+      if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev && !gas_interceptor_detected) {
         controls_allowed = 0;
       }
       gas_pressed_prev = gas_pressed;
@@ -180,7 +185,10 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
           tx = 0;
         }
       }
-      bool violation = max_limit_check(desired_accel, TOYOTA_MAX_ACCEL, TOYOTA_MIN_ACCEL);
+      bool violation = (unsafe_mode & UNSAFE_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX)?
+        max_limit_check(desired_accel, TOYOTA_ISO_MAX_ACCEL, TOYOTA_ISO_MIN_ACCEL) :
+        max_limit_check(desired_accel, TOYOTA_MAX_ACCEL, TOYOTA_MIN_ACCEL);
+        
       if (violation) {
         tx = 0;
       }

tests/safety/test_chrysler.py

@@ -3,7 +3,7 @@ import unittest
 import numpy as np
 from panda import Panda
 from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import StdTest, make_msg
+from panda.tests.safety.common import StdTest, make_msg, UNSAFE_MODE
 
 MAX_RATE_UP = 3
 MAX_RATE_DOWN = 3
@@ -149,6 +149,14 @@ class TestChryslerSafety(unittest.TestCase):
     self.safety.safety_rx_hook(self._gas_msg(1))
     self.assertFalse(self.safety.get_controls_allowed())
 
+  def test_unsafe_mode_no_disengage_on_gas(self):
+    self.safety.safety_rx_hook(self._gas_msg(0))
+    self.safety.set_controls_allowed(1)
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
+    self.safety.safety_rx_hook(self._gas_msg(1))
+    self.assertTrue(self.safety.get_controls_allowed())
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
+
   def test_brake_disengage(self):
     StdTest.test_allow_brake_at_zero_speed(self)
     StdTest.test_not_allow_brake_when_moving(self, 0)

tests/safety/test_gm.py

@@ -3,7 +3,7 @@ import unittest
 import numpy as np
 from panda import Panda
 from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import StdTest, make_msg
+from panda.tests.safety.common import StdTest, make_msg, UNSAFE_MODE
 
 MAX_RATE_UP = 7
 MAX_RATE_DOWN = 17
@@ -126,6 +126,14 @@ class TestGmSafety(unittest.TestCase):
     self.assertFalse(self.safety.get_controls_allowed())
     self.safety.safety_rx_hook(self._gas_msg(False))
 
+  def test_unsafe_mode_no_disengage_on_gas(self):
+    self.safety.safety_rx_hook(self._gas_msg(False))
+    self.safety.set_controls_allowed(1)
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
+    self.safety.safety_rx_hook(self._gas_msg(True))
+    self.assertTrue(self.safety.get_controls_allowed())
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
+
   def test_allow_engage_with_gas_pressed(self):
     self.safety.safety_rx_hook(self._gas_msg(True))
     self.safety.set_controls_allowed(1)
@@ -252,6 +260,59 @@ class TestGmSafety(unittest.TestCase):
         # assume len 8
         self.assertEqual(-1, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
 
+  def test_tx_hook_on_pedal_pressed(self):
+    for pedal in ['brake', 'gas']:
+      if pedal == 'brake':
+        # brake_pressed_prev and honda_moving
+        self.safety.safety_rx_hook(self._speed_msg(100))
+        self.safety.safety_rx_hook(self._brake_msg(MAX_BRAKE))
+      elif pedal == 'gas':
+        # gas_pressed_prev
+        self.safety.safety_rx_hook(self._gas_msg(MAX_GAS))
+
+      self.safety.set_controls_allowed(1)
+      self.assertFalse(self.safety.safety_tx_hook(self._send_brake_msg(MAX_BRAKE)))
+      self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(MAX_RATE_UP)))
+      self.assertFalse(self.safety.safety_tx_hook(self._send_gas_msg(MAX_GAS)))
+
+      # reset status
+      self.safety.set_controls_allowed(0)
+      self.safety.safety_tx_hook(self._send_brake_msg(0))
+      self.safety.safety_tx_hook(self._torque_msg(0))
+      if pedal == 'brake':
+        self.safety.safety_rx_hook(self._speed_msg(0))
+        self.safety.safety_rx_hook(self._brake_msg(0))
+      elif pedal == 'gas':
+        self.safety.safety_rx_hook(self._gas_msg(0))
+
+  def test_tx_hook_on_pedal_pressed_on_unsafe_gas_mode(self):
+    for pedal in ['brake', 'gas']:
+      self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
+      if pedal == 'brake':
+        # brake_pressed_prev and honda_moving
+        self.safety.safety_rx_hook(self._speed_msg(100))
+        self.safety.safety_rx_hook(self._brake_msg(MAX_BRAKE))
+        allow_ctrl = False
+      elif pedal == 'gas':
+        # gas_pressed_prev
+        self.safety.safety_rx_hook(self._gas_msg(MAX_GAS))
+        allow_ctrl = True
+
+      self.safety.set_controls_allowed(1)
+      self.assertEqual(allow_ctrl, self.safety.safety_tx_hook(self._send_brake_msg(MAX_BRAKE)))
+      self.assertEqual(allow_ctrl, self.safety.safety_tx_hook(self._torque_msg(MAX_RATE_UP)))
+      self.assertEqual(allow_ctrl, self.safety.safety_tx_hook(self._send_gas_msg(MAX_GAS)))
+
+      # reset status
+      self.safety.set_controls_allowed(0)
+      self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
+      self.safety.safety_tx_hook(self._send_brake_msg(0))
+      self.safety.safety_tx_hook(self._torque_msg(0))
+      if pedal == 'brake':
+        self.safety.safety_rx_hook(self._speed_msg(0))
+        self.safety.safety_rx_hook(self._brake_msg(0))
+      elif pedal == 'gas':
+        self.safety.safety_rx_hook(self._gas_msg(0))
 
 if __name__ == "__main__":
   unittest.main()

tests/safety/test_honda.py

@@ -3,7 +3,7 @@ import unittest
 import numpy as np
 from panda import Panda
 from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import StdTest, make_msg, MAX_WRONG_COUNTERS
+from panda.tests.safety.common import StdTest, make_msg, MAX_WRONG_COUNTERS, UNSAFE_MODE
 
 MAX_BRAKE = 255
 
@@ -189,6 +189,14 @@ class TestHondaSafety(unittest.TestCase):
     self.safety.safety_rx_hook(self._gas_msg(1))
     self.assertFalse(self.safety.get_controls_allowed())
 
+  def test_unsafe_mode_no_disengage_on_gas(self):
+    self.safety.safety_rx_hook(self._gas_msg(0))
+    self.safety.set_controls_allowed(1)
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
+    self.safety.safety_rx_hook(self._gas_msg(1))
+    self.assertTrue(self.safety.get_controls_allowed())
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
+
   def test_allow_engage_with_gas_pressed(self):
     self.safety.safety_rx_hook(self._gas_msg(1))
     self.safety.set_controls_allowed(1)
@@ -205,6 +213,17 @@ class TestHondaSafety(unittest.TestCase):
       self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
       self.safety.set_gas_interceptor_detected(False)
 
+  def test_unsafe_mode_no_disengage_on_gas_interceptor(self):
+    self.safety.set_controls_allowed(True)
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
+    for g in range(0, 0x1000):
+      self.safety.safety_rx_hook(self._send_interceptor_msg(g, 0x201))
+      self.assertTrue(self.safety.get_controls_allowed())
+      self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
+      self.safety.set_gas_interceptor_detected(False)
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
+    self.safety.set_controls_allowed(False)
+
   def test_allow_engage_with_gas_interceptor_pressed(self):
     self.safety.safety_rx_hook(self._send_interceptor_msg(0x1000, 0x201))
     self.safety.set_controls_allowed(1)
@@ -335,6 +354,79 @@ class TestHondaSafety(unittest.TestCase):
 
     self.safety.set_honda_fwd_brake(False)
 
+  def test_tx_hook_on_pedal_pressed(self):
+    for pedal in ['brake', 'gas', 'interceptor']:
+      if pedal == 'brake':
+        # brake_pressed_prev and honda_moving
+        self.safety.safety_rx_hook(self._speed_msg(100))
+        self.safety.safety_rx_hook(self._brake_msg(1))
+      elif pedal == 'gas':
+        # gas_pressed_prev
+        self.safety.safety_rx_hook(self._gas_msg(1))
+      elif pedal == 'interceptor':
+        # gas_interceptor_prev > INTERCEPTOR_THRESHOLD
+        self.safety.safety_rx_hook(self._send_interceptor_msg(INTERCEPTOR_THRESHOLD+1, 0x201))
+        self.safety.safety_rx_hook(self._send_interceptor_msg(INTERCEPTOR_THRESHOLD+1, 0x201))
+
+      self.safety.set_controls_allowed(1)
+      hw = self.safety.get_honda_hw()
+      if hw == HONDA_N_HW:
+        self.safety.set_honda_fwd_brake(False)
+        self.assertFalse(self.safety.safety_tx_hook(self._send_brake_msg(MAX_BRAKE)))
+        self.assertFalse(self.safety.safety_tx_hook(self._send_interceptor_msg(INTERCEPTOR_THRESHOLD, 0x200)))
+      self.assertFalse(self.safety.safety_tx_hook(self._send_steer_msg(0x1000)))
+
+      # reset status
+      self.safety.set_controls_allowed(0)
+      self.safety.safety_tx_hook(self._send_brake_msg(0))
+      self.safety.safety_tx_hook(self._send_steer_msg(0))
+      self.safety.safety_tx_hook(self._send_interceptor_msg(0, 0x200))
+      if pedal == 'brake':
+        self.safety.safety_rx_hook(self._speed_msg(0))
+        self.safety.safety_rx_hook(self._brake_msg(0))
+      elif pedal == 'gas':
+        self.safety.safety_rx_hook(self._gas_msg(0))
+      elif pedal == 'interceptor':
+        self.safety.set_gas_interceptor_detected(False)
+
+  def test_tx_hook_on_pedal_pressed_on_unsafe_gas_mode(self):
+    for pedal in ['brake', 'gas', 'interceptor']:
+      self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
+      if pedal == 'brake':
+        # brake_pressed_prev and honda_moving
+        self.safety.safety_rx_hook(self._speed_msg(100))
+        self.safety.safety_rx_hook(self._brake_msg(1))
+        allow_ctrl = False
+      elif pedal == 'gas':
+        # gas_pressed_prev
+        self.safety.safety_rx_hook(self._gas_msg(1))
+        allow_ctrl = True
+      elif pedal == 'interceptor':
+        # gas_interceptor_prev > INTERCEPTOR_THRESHOLD
+        self.safety.safety_rx_hook(self._send_interceptor_msg(INTERCEPTOR_THRESHOLD+1, 0x201))
+        self.safety.safety_rx_hook(self._send_interceptor_msg(INTERCEPTOR_THRESHOLD+1, 0x201))
+        allow_ctrl = True
+
+      self.safety.set_controls_allowed(1)
+      hw = self.safety.get_honda_hw()
+      if hw == HONDA_N_HW:
+        self.safety.set_honda_fwd_brake(False)
+        self.assertEqual(allow_ctrl, self.safety.safety_tx_hook(self._send_brake_msg(MAX_BRAKE)))
+        self.assertEqual(allow_ctrl, self.safety.safety_tx_hook(self._send_interceptor_msg(INTERCEPTOR_THRESHOLD, 0x200)))
+      self.assertEqual(allow_ctrl, self.safety.safety_tx_hook(self._send_steer_msg(0x1000)))
+      # reset status
+      self.safety.set_controls_allowed(0)
+      self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
+      self.safety.safety_tx_hook(self._send_brake_msg(0))
+      self.safety.safety_tx_hook(self._send_steer_msg(0))
+      self.safety.safety_tx_hook(self._send_interceptor_msg(0, 0x200))
+      if pedal == 'brake':
+        self.safety.safety_rx_hook(self._speed_msg(0))
+        self.safety.safety_rx_hook(self._brake_msg(0))
+      elif pedal == 'gas':
+        self.safety.safety_rx_hook(self._gas_msg(0))
+      elif pedal == 'interceptor':
+        self.safety.set_gas_interceptor_detected(False)
 
 class TestHondaBoschGiraffeSafety(TestHondaSafety):
   @classmethod

tests/safety/test_hyundai.py

@@ -3,7 +3,7 @@ import unittest
 import numpy as np
 from panda import Panda
 from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import StdTest, make_msg
+from panda.tests.safety.common import StdTest, make_msg, UNSAFE_MODE
 
 MAX_RATE_UP = 3
 MAX_RATE_DOWN = 7
@@ -114,6 +114,14 @@ class TestHyundaiSafety(unittest.TestCase):
     self.safety.safety_rx_hook(self._gas_msg(1))
     self.assertFalse(self.safety.get_controls_allowed())
 
+  def test_unsafe_mode_no_disengage_on_gas(self):
+    self.safety.safety_rx_hook(self._gas_msg(0))
+    self.safety.set_controls_allowed(True)
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
+    self.safety.safety_rx_hook(self._gas_msg(1))
+    self.assertTrue(self.safety.get_controls_allowed())
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
+
   def test_brake_disengage(self):
     StdTest.test_allow_brake_at_zero_speed(self)
     StdTest.test_not_allow_brake_when_moving(self, SPEED_THRESHOLD)

tests/safety/test_nissan.py

@@ -3,7 +3,7 @@ import unittest
 import numpy as np
 from panda import Panda
 from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import StdTest, make_msg
+from panda.tests.safety.common import StdTest, make_msg, UNSAFE_MODE
 
 ANGLE_DELTA_BP = [0., 5., 15.]
 ANGLE_DELTA_V = [5., .8, .15]     # windup limit
@@ -154,6 +154,14 @@ class TestNissanSafety(unittest.TestCase):
     self.safety.safety_rx_hook(self._send_gas_cmd(100))
     self.assertFalse(self.safety.get_controls_allowed())
 
+  def test_unsafe_mode_no_disengage_on_gas(self):
+    self.safety.safety_rx_hook(self._send_gas_cmd(0))
+    self.safety.set_controls_allowed(True)
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
+    self.safety.safety_rx_hook(self._send_gas_cmd(100))
+    self.assertTrue(self.safety.get_controls_allowed())
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
+
   def test_acc_buttons(self):
     self.safety.set_controls_allowed(1)
     self.safety.safety_tx_hook(self._acc_button_cmd(0x2)) # Cancel button

tests/safety/test_subaru.py

@@ -3,7 +3,7 @@ import unittest
 import numpy as np
 from panda import Panda
 from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import StdTest, make_msg
+from panda.tests.safety.common import StdTest, make_msg, UNSAFE_MODE
 
 MAX_RATE_UP = 50
 MAX_RATE_DOWN = 70
@@ -155,6 +155,14 @@ class TestSubaruSafety(unittest.TestCase):
     self.safety.safety_rx_hook(self._gas_msg(1))
     self.assertFalse(self.safety.get_controls_allowed())
 
+  def test_unsafe_mode_no_disengage_on_gas(self):
+    self.safety.safety_rx_hook(self._gas_msg(0))
+    self.safety.set_controls_allowed(True)
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
+    self.safety.safety_rx_hook(self._gas_msg(1))
+    self.assertTrue(self.safety.get_controls_allowed())
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
+
   def test_brake_disengage(self):
     if (self.safety.get_subaru_global()):
       StdTest.test_allow_brake_at_zero_speed(self)

tests/safety/test_toyota.py

@@ -3,7 +3,7 @@ import unittest
 import numpy as np
 from panda import Panda
 from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import StdTest, make_msg
+from panda.tests.safety.common import StdTest, make_msg, UNSAFE_MODE
 
 MAX_RATE_UP = 10
 MAX_RATE_DOWN = 25
@@ -12,6 +12,9 @@ MAX_TORQUE = 1500
 MAX_ACCEL = 1500
 MIN_ACCEL = -3000
 
+ISO_MAX_ACCEL = 2000
+ISO_MIN_ACCEL = -3500
+
 MAX_RT_DELTA = 375
 RT_INTERVAL = 250000
 
@@ -154,6 +157,14 @@ class TestToyotaSafety(unittest.TestCase):
     self.safety.safety_rx_hook(self._send_gas_msg(1))
     self.assertFalse(self.safety.get_controls_allowed())
 
+  def test_unsafe_mode_no_disengage_on_gas(self):
+    self.safety.safety_rx_hook(self._send_gas_msg(0))
+    self.safety.set_controls_allowed(True)
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
+    self.safety.safety_rx_hook(self._send_gas_msg(1))
+    self.assertTrue(self.safety.get_controls_allowed())
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
+
   def test_allow_engage_with_gas_pressed(self):
     self.safety.safety_rx_hook(self._send_gas_msg(1))
     self.safety.set_controls_allowed(True)
@@ -172,6 +183,17 @@ class TestToyotaSafety(unittest.TestCase):
       self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
       self.safety.set_gas_interceptor_detected(False)
 
+  def test_unsafe_mode_no_disengage_on_gas_interceptor(self):
+    self.safety.set_controls_allowed(True)
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
+    for g in range(0, 0x1000):
+      self.safety.safety_rx_hook(self._send_interceptor_msg(g, 0x201))
+      self.assertTrue(self.safety.get_controls_allowed())
+      self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
+      self.safety.set_gas_interceptor_detected(False)
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
+    self.safety.set_controls_allowed(False)
+
   def test_brake_disengage(self):
     StdTest.test_allow_brake_at_zero_speed(self)
     StdTest.test_not_allow_brake_when_moving(self, STANDSTILL_THRESHOLD)
@@ -194,6 +216,18 @@ class TestToyotaSafety(unittest.TestCase):
           send = accel == 0
         self.assertEqual(send, self.safety.safety_tx_hook(self._accel_msg(accel)))
 
+  def test_unsafe_iso_accel_actuation_limits(self):
+    for accel in np.arange(ISO_MIN_ACCEL - 1000, ISO_MAX_ACCEL + 1000, 100):
+      for controls_allowed in [True, False]:
+        self.safety.set_controls_allowed(controls_allowed)
+        self.safety.set_unsafe_mode(UNSAFE_MODE.RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX)
+        if controls_allowed:
+          send = ISO_MIN_ACCEL <= accel <= ISO_MAX_ACCEL
+        else:
+          send = accel == 0
+        self.assertEqual(send, self.safety.safety_tx_hook(self._accel_msg(accel)))
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
+
   def test_torque_absolute_limits(self):
     for controls_allowed in [True, False]:
       for torque in np.arange(-MAX_TORQUE - 1000, MAX_TORQUE + 1000, MAX_RATE_UP):