diff --git a/panda b/panda index b0472024d..9a587a5b1 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit b0472024d324984d0453cc5d0ae506d58980bf91 +Subproject commit 9a587a5b1f16bef10feef8cdd6dbd1007dfdcc6d diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index 1019c98bc..585aca3ff 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -15,7 +15,6 @@ class CarController: self.CP = CP self.CCP = CarControllerParams(CP) self.CCS = pqcan if CP.carFingerprint in PQ_CARS else mqbcan - self.pass_through_enabled = CP.carFingerprint not in PQ_CARS self.packer_pt = CANPacker(dbc_name) self.apply_steer_last = 0 @@ -92,9 +91,8 @@ class CarController: if self.frame % self.CCP.ACC_HUD_STEP == 0 and self.CP.openpilotLongitudinalControl: acc_hud_status = self.CCS.acc_hud_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive) set_speed = hud_control.setSpeed * CV.MS_TO_KPH # FIXME: follow the recent displayed-speed updates, also use mph_kmh toggle to fix display rounding problem? - pass_through_data = CS.acc_04_stock_values if self.pass_through_enabled else None can_sends.extend(self.CCS.create_acc_hud_control(self.packer_pt, CANBUS.pt, acc_hud_status, set_speed, - hud_control.leadVisible, pass_through_data)) + hud_control.leadVisible)) # **** Stock ACC Button Controls **************************************** # diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index 2566b8596..9da02ffee 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -106,7 +106,6 @@ class CarState(CarStateBase): ret.stockAeb = bool(ext_cp.vl["ACC_10"]["ANB_Teilbremsung_Freigabe"]) or bool(ext_cp.vl["ACC_10"]["ANB_Zielbremsung_Freigabe"]) # Update ACC radar status. - self.acc_04_stock_values = ext_cp.vl["ACC_04"] self.acc_type = ext_cp.vl["ACC_06"]["ACC_Typ"] self.tsk_status = pt_cp.vl["TSK_06"]["TSK_Status"] if self.tsk_status == 2: @@ -487,10 +486,6 @@ class MqbExtraSignals: # Additional signal and message lists for optional or bus-portable controllers fwd_radar_signals = [ ("ACC_Wunschgeschw", "ACC_02"), # ACC set speed - ("ACC_Charisma_FahrPr", "ACC_04"), # Driving profile selection - ("ACC_Charisma_Status", "ACC_04"), # Driving profile status - ("ACC_Charisma_Umschaltung", "ACC_04"), # Driving profile switching - ("ACC_Texte_braking_guard", "ACC_04"), # Part of ACC driver alerts in instrument cluster ("ACC_Typ", "ACC_06"), # Basic vs F2S vs SNG ("AWV2_Freigabe", "ACC_10"), # FCW brake jerk release ("ANB_Teilbremsung_Freigabe", "ACC_10"), # AEB partial braking release @@ -500,7 +495,6 @@ class MqbExtraSignals: ("ACC_06", 50), # From J428 ACC radar control module ("ACC_10", 50), # From J428 ACC radar control module ("ACC_02", 17), # From J428 ACC radar control module - ("ACC_04", 17), # From J428 ACC radar control module ] bsm_radar_signals = [ ("SWA_Infostufe_SWA_li", "SWA_01"), # Blind spot object info, left diff --git a/selfdrive/car/volkswagen/mqbcan.py b/selfdrive/car/volkswagen/mqbcan.py index 5158646dc..acd35c2d0 100644 --- a/selfdrive/car/volkswagen/mqbcan.py +++ b/selfdrive/car/volkswagen/mqbcan.py @@ -104,7 +104,7 @@ def create_acc_accel_control(packer, bus, enabled, acc_status, accel, stopping, return commands -def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_visible, pass_through_data): +def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_visible): commands = [] acc_02_values = { @@ -116,12 +116,5 @@ def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_visible, } commands.append(packer.make_can_msg("ACC_02", bus, acc_02_values)) - # Suppress disengagement alert from stock radar when OP long is in use, but passthru FCW/AEB alerts - acc_04_values = pass_through_data.copy() - if acc_04_values["ACC_Texte_braking_guard"] == 4: - acc_04_values["ACC_Texte_braking_guard"] = 0 - - commands.append(packer.make_can_msg("ACC_04", bus, acc_04_values)) - return commands diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py index 147cc57b5..c69656e7b 100644 --- a/selfdrive/car/volkswagen/pqcan.py +++ b/selfdrive/car/volkswagen/pqcan.py @@ -72,7 +72,7 @@ def create_acc_accel_control(packer, bus, enabled, acc_status, accel, stopping, packer.make_can_msg("ACC_System", bus, values) -def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_visible, pass_through_data=None): +def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_visible): values = { "ACA_StaACC": acc_hud_status, "ACA_Zeitluecke": 2, diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 6181c9f04..c4be5a3a3 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -64,7 +64,7 @@ class CarControllerParams: else: self.LDW_STEP = 10 # LDW_02 message frequency 10Hz - self.ACC_HUD_STEP = 6 # ACC_02/ACC_04 message frequency 16Hz + self.ACC_HUD_STEP = 6 # ACC_02 message frequency 16Hz self.STEER_DRIVER_ALLOWANCE = 80 # Driver intervention threshold 0.8 Nm self.STEER_DELTA_UP = 4 # Max HCA reached in 1.50s (STEER_MAX / (50Hz * 1.50)) self.STEER_DELTA_DOWN = 10 # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))