fix tesla safety tests

commaai · Oct 14, 2024 · f48e035 · f48e035
1 parent b3a1e5d
commit f48e035
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/board/safety/safety_tesla.h b/board/safety/safety_tesla.h
@@ -18,7 +18,7 @@ static void tesla_rx_hook(const CANPacket_t *to_push) {
 
   if(bus == 0) {
     if(addr == 0x286){
-      vehicle_moving = ((GET_BYTE(to_push, 5) & 0x1CU) >> 2) != 3;
+      vehicle_moving = ((GET_BYTE(to_push, 5) & 0x1CU) >> 2) != 3U;
     }
 
     if(addr == 0x257){
@@ -120,7 +120,7 @@ static bool tesla_tx_hook(const CANPacket_t *to_send) {
       int raw_accel_min = ((GET_BYTE(to_send, 5) & 0x0FU) << 5) | (GET_BYTE(to_send, 4) >> 3);
 
       // Prevent both acceleration from being negative, as this could cause the car to reverse after coming to standstill
-      if (raw_accel_max < TESLA_LONG_LIMITS.inactive_accel && raw_accel_min < TESLA_LONG_LIMITS.inactive_accel){
+      if ((raw_accel_max < TESLA_LONG_LIMITS.inactive_accel) && (raw_accel_min < TESLA_LONG_LIMITS.inactive_accel)){
         violation = true;
       }
 

diff --git a/tests/safety/test_tesla.py b/tests/safety/test_tesla.py
@@ -33,8 +33,8 @@ def _speed_msg(self, speed):
     return self.packer.make_can_msg_panda("DI_speed", 0, values)
 
   def _vehicle_moving_msg(self, speed: float):
-    values = {"ESP_vehicleStandstillSts": 1 if speed <= self.STANDSTILL_THRESHOLD else 0}
-    return self.packer.make_can_msg_panda("ESP_B", 0, values)
+    values = {"DI_vehicleHoldState": 3 if speed <= self.STANDSTILL_THRESHOLD else 0}
+    return self.packer.make_can_msg_panda("DI_state", 0, values)
 
   def _user_gas_msg(self, gas):
     values = {"DI_accelPedalPos": gas}