partial FtS/basic support

selfdrive/car/volkswagen/carcontroller.py

@@ -74,8 +74,8 @@ class CarController:
       accel = clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0
       stopping = actuators.longControlState == LongCtrlState.stopping
       starting = actuators.longControlState == LongCtrlState.starting
-      can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, CANBUS.pt, CC.longActive, acc_status, accel,
-                                                         stopping, starting, CS.out.cruiseState.standstill))
+      can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, CANBUS.pt, CS.acc_type, CC.longActive, accel,
+                                                         acc_status, stopping, starting, CS.out.cruiseState.standstill))
 
     # **** HUD Controls ***************************************************** #
 

selfdrive/car/volkswagen/carstate.py

@@ -218,6 +218,7 @@ class CarState(CarStateBase):
     ret.stockAeb = False
 
     # Update ACC radar status.
+    self.acc_type = 0  # TODO: this is ACC "basic" with nonzero min speed, support FtS (1) later
     ret.cruiseState.available = bool(pt_cp.vl["Motor_5"]["GRA_Hauptschalter"])
     ret.cruiseState.enabled = bool(pt_cp.vl["Motor_2"]["GRA_Status"])
     if self.CP.pcmCruise:

selfdrive/car/volkswagen/mqbcan.py

@@ -64,11 +64,11 @@ def acc_hud_status_value(main_switch_on, acc_faulted, long_active):
   return hud_status
 
 
-def create_acc_accel_control(packer, bus, enabled, acc_status, accel, stopping, starting, standstill):
+def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_status, stopping, starting, standstill):
   commands = []
 
   acc_06_values = {
-    "ACC_Typ": 2,  # TODO: fixed requirement for SnG stopping coordinator, allow FtS and basic later
+    "ACC_Typ": acc_type,
     "ACC_Status_ACC": acc_status,
     "ACC_StartStopp_Info": enabled,
     "ACC_Sollbeschleunigung_02": accel if enabled else 3.01,

selfdrive/car/volkswagen/pqcan.py

@@ -59,11 +59,11 @@ def acc_hud_status_value(main_switch_on, acc_faulted, long_active):
   return hud_status
 
 
-def create_acc_accel_control(packer, bus, enabled, acc_status, accel, stopping, starting, standstill):
+def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_status, stopping, starting, standstill):
   values = {
     "ACS_Sta_ADR": acc_status,
     "ACS_StSt_Info": acc_status != 1,
-    "ACS_Typ_ACC": 0,  # TODO: this is ACC "basic", find a way to detect FtS support (1)
+    "ACS_Typ_ACC": acc_type,
     "ACS_Sollbeschl": accel if acc_status == 1 else 3.01,
     "ACS_zul_Regelabw": 0.2 if acc_status == 1 else 1.27,
     "ACS_max_AendGrad": 3.0 if acc_status == 1 else 5.08,