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VW: check cruise control #32049

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merged 5 commits into from
Mar 30, 2024
Merged

VW: check cruise control #32049

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347c8d6
VW: check cruise control!
sshane Mar 29, 2024
cf91d52
fix that
sshane Mar 29, 2024
5864a9a
fix that
sshane Mar 29, 2024
1118324
Merge remote-tracking branch 'upstream/master' into vw-cc
sshane Mar 30, 2024
0513473
Update ref_commit
sshane Mar 30, 2024
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11 changes: 9 additions & 2 deletions selfdrive/car/volkswagen/carstate.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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"])
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2 changes: 1 addition & 1 deletion selfdrive/test/process_replay/ref_commit
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Original file line number Diff line number Diff line change
@@ -1 +1 @@
f77699bfd783ab0c9a419f2af883b36aed20cc68
28001018eae89eb4906717bebf892345ad590b5a
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