From 6974af51a5c7a116792d3b120a98cd08ae98e288 Mon Sep 17 00:00:00 2001
From: Lukas <61192133+lukasloetkolben@users.noreply.github.com>
Date: Thu, 14 Nov 2024 02:29:04 +0100
Subject: [PATCH] Tesla: Panda safety update (#2075)

* - match "vehicle_moving" with opendbc
- allow to cancel

* remove comment

* update _vehicle_moving_msg

* remove redundant condition
---
 board/safety/safety_tesla.h | 7 +++++--
 tests/safety/test_tesla.py  | 4 ++--
 2 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/board/safety/safety_tesla.h b/board/safety/safety_tesla.h
index e21cd4f73..c32cb4102 100644
--- a/board/safety/safety_tesla.h
+++ b/board/safety/safety_tesla.h
@@ -35,14 +35,14 @@ static void tesla_rx_hook(const CANPacket_t *to_push) {
 
     // Cruise state
     if(addr == 0x286) {
-      vehicle_moving = ((GET_BYTE(to_push, 5) & 0x1CU) >> 2) != 3U;
-
       int cruise_state = ((GET_BYTE(to_push, 1) << 1 ) >> 5);
       bool cruise_engaged = (cruise_state == 2) ||  // ENABLED
                             (cruise_state == 3) ||  // STANDSTILL
                             (cruise_state == 4) ||  // OVERRIDE
                             (cruise_state == 6) ||  // PRE_FAULT
                             (cruise_state == 7);    // PRE_CANCEL
+
+      vehicle_moving = cruise_state != 3; // STANDSTILL
       pcm_cruise_check(cruise_engaged);
     }
   }
@@ -102,6 +102,7 @@ static bool tesla_tx_hook(const CANPacket_t *to_send) {
 
   if(addr == 0x2b9) {
     // DAS_control: longitudinal control message
+    int acc_state = ((GET_BYTE(to_send, 1) & 0xF0U) >> 4);
     if (tesla_longitudinal) {
       // No AEB events may be sent by openpilot
       int aeb_event = GET_BYTE(to_send, 2) & 0x03U;
@@ -125,6 +126,8 @@ static bool tesla_tx_hook(const CANPacket_t *to_send) {
 
       violation |= longitudinal_accel_checks(raw_accel_max, TESLA_LONG_LIMITS);
       violation |= longitudinal_accel_checks(raw_accel_min, TESLA_LONG_LIMITS);
+    } else if(acc_state == 13) {
+      // Allow to cancel if not using openpilot longitudinal
     } else {
       violation = true;
     }
diff --git a/tests/safety/test_tesla.py b/tests/safety/test_tesla.py
index bcfe659e7..17a804f06 100755
--- a/tests/safety/test_tesla.py
+++ b/tests/safety/test_tesla.py
@@ -14,7 +14,7 @@ class TestTeslaSafetyBase(common.PandaCarSafetyTest):
   FWD_BLACKLISTED_ADDRS = {2: [MSG_DAS_steeringControl, MSG_APS_eacMonitor]}
   TX_MSGS = [[MSG_DAS_steeringControl, 0], [MSG_APS_eacMonitor, 0], [MSG_DAS_Control, 0]]
 
-  STANDSTILL_THRESHOLD = 1
+  STANDSTILL_THRESHOLD = 0.1
   GAS_PRESSED_THRESHOLD = 3
   FWD_BUS_LOOKUP = {0: 2, 2: 0}
 
@@ -34,7 +34,7 @@ class TestTeslaSafetyBase(common.PandaCarSafetyTest):
     return self.packer.make_can_msg_panda("DI_speed", 0, values)
 
   def _vehicle_moving_msg(self, speed: float):
-    values = {"DI_vehicleHoldState": 3 if speed <= self.STANDSTILL_THRESHOLD else 0}
+    values = {"DI_cruiseState": 3 if speed <= self.STANDSTILL_THRESHOLD else 2}
     return self.packer.make_can_msg_panda("DI_state", 0, values)
 
   def _user_gas_msg(self, gas):