try without ACC_04

panda

@@ -1 +1 @@
-Subproject commit b0472024d324984d0453cc5d0ae506d58980bf91
+Subproject commit 9a587a5b1f16bef10feef8cdd6dbd1007dfdcc6d

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 **************************************** #
 

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

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
 

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,

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))