From 636ff5979fc19fe0a965fbceae214694c97c1e3d Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Tue, 22 Nov 2022 19:18:42 -0500 Subject: [PATCH] VW MQB: Redundant brake pressed signals (#26401) * VW MQB: Redundant brake pressed signals * retry CI * update refs * update refs Co-authored-by: Adeeb Shihadeh --- panda | 2 +- selfdrive/car/volkswagen/carstate.py | 11 +++++++---- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 9 insertions(+), 6 deletions(-) diff --git a/panda b/panda index c075050d5..e4c425396 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit c075050d5df70570cfadd8c0d7507f25fe67d247 +Subproject commit e4c4253964a25ff980520b70ea9f50aede4a1db6 diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index def14ab01..7d0a3d4dc 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -62,7 +62,9 @@ class CarState(CarStateBase): ret.gas = pt_cp.vl["Motor_20"]["MO_Fahrpedalrohwert_01"] / 100.0 ret.gasPressed = ret.gas > 0 ret.brake = pt_cp.vl["ESP_05"]["ESP_Bremsdruck"] / 250.0 # FIXME: this is pressure in Bar, not sure what OP expects - ret.brakePressed = bool(pt_cp.vl["ESP_05"]["ESP_Fahrer_bremst"]) + brake_pedal_pressed = bool(pt_cp.vl["Motor_14"]["MO_Fahrer_bremst"]) + brake_pressure_detected = bool(pt_cp.vl["ESP_05"]["ESP_Fahrer_bremst"]) + ret.brakePressed = brake_pedal_pressed or brake_pressure_detected ret.parkingBrake = bool(pt_cp.vl["Kombi_01"]["KBI_Handbremse"]) # FIXME: need to include an EPB check as well # Update gear and/or clutch position data. @@ -268,8 +270,9 @@ class CarState(CarStateBase): ("Comfort_Signal_Right", "Blinkmodi_02"), # Right turn signal including comfort blink interval ("AB_Gurtschloss_FA", "Airbag_02"), # Seatbelt status, driver ("AB_Gurtschloss_BF", "Airbag_02"), # Seatbelt status, passenger - ("ESP_Fahrer_bremst", "ESP_05"), # Brake pedal pressed - ("ESP_Bremsdruck", "ESP_05"), # Brake pressure applied + ("ESP_Fahrer_bremst", "ESP_05"), # Driver applied brake pressure over threshold + ("MO_Fahrer_bremst", "Motor_14"), # Brake pedal switch + ("ESP_Bremsdruck", "ESP_05"), # Brake pressure ("MO_Fahrpedalrohwert_01", "Motor_20"), # Accelerator pedal value ("EPS_Lenkmoment", "LH_EPS_03"), # Absolute driver torque input ("EPS_VZ_Lenkmoment", "LH_EPS_03"), # Driver torque input sign @@ -304,6 +307,7 @@ class CarState(CarStateBase): ("ESP_02", 50), # From J104 ABS/ESP controller ("GRA_ACC_01", 33), # From J533 CAN gateway (via LIN from steering wheel controls) ("Gateway_72", 10), # From J533 CAN gateway (aggregated data) + ("Motor_14", 10), # From J623 Engine control module ("Airbag_02", 5), # From J234 Airbag control module ("Kombi_01", 2), # From J285 Instrument cluster ("Blinkmodi_02", 1), # From J519 BCM (sent at 1Hz when no lights active, 50Hz when active) @@ -318,7 +322,6 @@ class CarState(CarStateBase): elif CP.transmissionType == TransmissionType.manual: signals += [("MO_Kuppl_schalter", "Motor_14"), # Clutch switch ("BCM1_Rueckfahrlicht_Schalter", "Gateway_72")] # Reverse light from BCM - checks.append(("Motor_14", 10)) # From J623 Engine control module if CP.networkLocation == NetworkLocation.fwdCamera: # Radars are here on CANBUS.pt diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 770b4e40f..d4520d293 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -ff508a46616a1a3d66e8d1154d123ffd11025003 +08ca448a6dcfc1edc4f9fedb2ea94ad6b2b69aa2 \ No newline at end of file