Tesla Model 3/Y bugs + improvements

[sshane]

• There are faults we don't handle with FSD long and openpilot lateral. We can 1) detect when FSD is turned on and warn user to switch to TACC, or 2) automatically send a message to switch to TACC (Hyundai CAN FD does something similar with the ADAS ECU).
• Temporary steering fault when overriding lateral very forcefully. Does the fault signal go high with FSD? If so, ignore in this case, else figure out how to not fault the steering.
  • It does not fault in TACC, need to do the above! EDIT: I only tested with OP long
• similar to above, if you override hard it temp faults then resumes steering. I think the autopilot ECU disables steering before this happens
• When releasing after overriding above the set speed the car brakes aggressively - change to enabled to fix jerk

  opendbc/opendbc/car/tesla/teslacan.py

  Line 30 in 634196f

  "DAS_setSpeed": 0 if (accel < 0 or not active) else V_CRUISE_MAX,

• better ignition signal - Tesla: update ignition signal for Model 3/Y panda#2153
• implement cancel - Tesla: implement cruiseControl.cancel #1734
• handle max lateral accel faulting EPAS Tesla faults when you request more than 3 m/s^2 #1760
• test max lateral jerk
• test stock AEB works
• faults above 360 degrees - Tesla: fix high angle fault #1793
• steering pressed is now too sensitive, activates lane changes on accident if going over bumps. adjust right in the middle with a higher threshold or longer time

[adeebshihadeh]

• FSD still does the blinkers (and who knows what else)
• can we improve the lane change nudge? - Tesla: quicker steering pressed logic #1730
• try out the "torque blending" fork

[lukasloetkolben]

• Passthrough ASS / Autopark / Lane Keeping