VW: check cruise control (#32049)

* VW: check cruise control! * fix that * fix that * Update ref_commit
commaai · Mar 30, 2024 · 493c810 · 493c810
1 parent fb1cb01
commit 493c810
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Showing 2 changed files with 10 additions and 3 deletions.
diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
@@ -119,8 +119,15 @@ def update(self, pt_cp, cam_cp, ext_cp, trans_type):
  # currently regulating speed (3), driver accel override (4), brake only (5)
  ret.cruiseState.available = pt_cp.vl["TSK_06"]["TSK_Status"] in (2, 3, 4, 5)
  ret.cruiseState.enabled = pt_cp.vl["TSK_06"]["TSK_Status"] in (3, 4, 5)
- # Speed limiter mode; ECM faults if we command ACC while not pcmCruise
- ret.cruiseState.nonAdaptive = bool(pt_cp.vl["TSK_06"]["TSK_Limiter_ausgewaehlt"])
+
+ if self.CP.pcmCruise:
+ # Cruise Control mode; check for distance UI setting from the radar.
+ # ECM does not manage this, so do not need to check for openpilot longitudinal
+ ret.cruiseState.nonAdaptive = ext_cp.vl["ACC_02"]["ACC_Gesetzte_Zeitluecke"] == 0
+ else:
+ # Speed limiter mode; ECM faults if we command ACC while not pcmCruise
+ ret.cruiseState.nonAdaptive = bool(pt_cp.vl["TSK_06"]["TSK_Limiter_ausgewaehlt"])
+
  ret.accFaulted = pt_cp.vl["TSK_06"]["TSK_Status"] in (6, 7)
 
  self.esp_hold_confirmation = bool(pt_cp.vl["ESP_21"]["ESP_Haltebestaetigung"])

diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-f77699bfd783ab0c9a419f2af883b36aed20cc68
+28001018eae89eb4906717bebf892345ad590b5a