test_models: check consitency between panda and openpilot for velocity (#30750)

* sanity check on velocity

* import from there

* use raw

* just check last

* ignore body

* reduce tolerance and bump panda

* its not average anymore

* slightly higher tolerance
old-commit-hash: 1ca1cf39223557955cee58e18a418914faf472c3

selfdrive/car/tests/test_models.py

@@ -23,6 +23,7 @@ from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.route import Route, SegmentName, RouteName
 
 from panda.tests.libpanda import libpanda_py
+from panda.tests.safety.common import VEHICLE_SPEED_FACTOR
 
 EventName = car.CarEvent.EventName
 PandaType = log.PandaState.PandaType
@@ -345,6 +346,11 @@ class TestCarModelBase(unittest.TestCase):
       checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
       checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
 
+      # Verify that panda has the correct velocity for cars that use it (angle based cars)
+      if self.CP.steerControlType in [car.CarParams.SteerControlType.angle] and not self.CP.notCar:
+        panda_velocity = self.safety.get_vehicle_speed_last() / VEHICLE_SPEED_FACTOR
+        checks['vEgo'] += abs(panda_velocity - CS.vEgoRaw) > 0.2
+
       if self.CP.pcmCruise:
         # On most pcmCruise cars, openpilot's state is always tied to the PCM's cruise state.
         # On Honda Nidec, we always engage on the rising edge of the PCM cruise state, but