From 493c81076b230facec12de3065e877847a671ec7 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 29 Mar 2024 20:56:40 -0700 Subject: [PATCH] VW: check cruise control (#32049) * VW: check cruise control! * fix that * fix that * Update ref_commit --- selfdrive/car/volkswagen/carstate.py | 11 +++++++++-- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 10 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index fac9de3dc7bacc..b169970fed3b9d 100644 --- 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 index 4bb8cd01e91bd3..1156aefeb2e478 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -f77699bfd783ab0c9a419f2af883b36aed20cc68 \ No newline at end of file +28001018eae89eb4906717bebf892345ad590b5a