filter ACC_13, disable secondary accel

opendbc

@@ -1 +1 @@
-Subproject commit 61534fd13162d714432c5685f2c59fafe7a96823
+Subproject commit 6efaf246a90b513995a374a9939e4e051cf1b41c

panda

@@ -1 +1 @@
-Subproject commit f24db459559423bd326f6237ffa2a00c42fafda6
+Subproject commit 48d50b6182820a4b8d03462a0c96c2c31074efac

selfdrive/car/volkswagen/carcontroller.py

@@ -66,21 +66,24 @@ class CarController():
 
         cb_pos = 0.0 if lead_visible or CS.out.vEgo < 2.0 else 0.1  # react faster to lead cars, also don't get hung up at DSG clutch release/kiss points when creeping to stop
         cb_neg = 0.0 if accel < 0 else 0.2  # IDK why, but stock likes to zero this out when accel is negative
-        secondary_accel = accel if lead_visible else 0  # try matching part of stock behavior, presumably drag/compression brake only if we can get away with it
 
         idx = (frame / P.ACC_CONTROL_STEP) % 16
         can_sends.append(volkswagencan.create_mqb_acc_06_control(self.packer_pt, CANBUS.pt, enabled, acc_status,
                                                                  accel, self.acc_stopping, self.acc_starting,
                                                                  cb_pos, cb_neg, idx))
         can_sends.append(volkswagencan.create_mqb_acc_07_control(self.packer_pt, CANBUS.pt, enabled,
-                                                                 accel, secondary_accel, acc_hold_request, acc_hold_release,
+                                                                 accel, acc_hold_request, acc_hold_release,
                                                                  acc_hold_type, stopping_distance, idx))
 
       if frame % P.ACC_HUD_STEP == 0:
         idx = (frame / P.ACC_HUD_STEP) % 16
         can_sends.append(volkswagencan.create_mqb_acc_02_control(self.packer_pt, CANBUS.pt, CS.tsk_status,
-                                                                  set_speed * CV.MS_TO_KPH, speed_visible, lead_visible, idx))
-        can_sends.append(volkswagencan.create_mqb_acc_04_control(self.packer_pt, CANBUS.pt, CS.acc_04_stock_values, idx))
+                                                                 set_speed * CV.MS_TO_KPH, speed_visible, lead_visible,
+                                                                 idx))
+        can_sends.append(volkswagencan.create_mqb_acc_04_control(self.packer_pt, CANBUS.pt, CS.acc_04_stock_values,
+                                                                 idx))
+        can_sends.append(volkswagencan.create_mqb_acc_13_control(self.packer_pt, CANBUS.pt, enabled,
+                                                                 CS.acc_13_stock_values))
 
     # **** Steering Controls ************************************************ #
 

selfdrive/car/volkswagen/carstate.py

@@ -98,6 +98,7 @@ class CarState(CarStateBase):
 
     # Update ACC radar status.
     self.acc_04_stock_values = ext_cp.vl["ACC_04"]
+    self.acc_13_stock_values = ext_cp.vl["ACC_13"]
     self.tsk_status = pt_cp.vl["TSK_06"]["TSK_Status"]
     if self.tsk_status == 2:
       # ACC okay and enabled, but not currently engaged
@@ -273,11 +274,14 @@ class MqbExtraSignals:
     ("AWV2_Freigabe", "ACC_10", 0),                 # FCW brake jerk release
     ("ANB_Teilbremsung_Freigabe", "ACC_10", 0),     # AEB partial braking release
     ("ANB_Zielbremsung_Freigabe", "ACC_10", 0),     # AEB target braking release
+    ("Unknown_Osc_1", "ACC_13", 0),                 # Unknown oscillating value (checksum/xor?)
+    ("Unknown_Osc_2", "ACC_13", 0),                 # Unknown oscillating value (checksum/xor?)
   ]
   fwd_radar_checks = [
     ("ACC_10", 50),                                 # From J428 ACC radar control module
-    ("ACC_04", 17),                                 # From J428 ACC radar control module
     ("ACC_02", 17),                                 # From J428 ACC radar control module
+    ("ACC_04", 17),                                 # From J428 ACC radar control module
+    ("ACC_13", 17),                                 # From J428 ACC radar control module
   ]
   bsm_radar_signals = [
     ("SWA_Infostufe_SWA_li", "SWA_01", 0),          # Blind spot object info, left

selfdrive/car/volkswagen/volkswagencan.py

@@ -85,7 +85,7 @@ def create_mqb_acc_06_control(packer, bus, enabled, acc_status, accel, acc_stopp
 
   return packer.make_can_msg("ACC_06", bus, values, idx)
 
-def create_mqb_acc_07_control(packer, bus, enabled, accel, secondary_accel, acc_hold_request, acc_hold_release,
+def create_mqb_acc_07_control(packer, bus, enabled, accel, acc_hold_request, acc_hold_release,
                               acc_hold_type, stopping_distance, idx):
   values = {
     "ACC_Distance_to_Stop": stopping_distance,
@@ -93,8 +93,18 @@ def create_mqb_acc_07_control(packer, bus, enabled, accel, secondary_accel, acc_
     "ACC_Freewheel_Type": 2 if enabled else 0,
     "ACC_Hold_Type": acc_hold_type,
     "ACC_Hold_Release": acc_hold_release,
-    "ACC_Accel_Secondary": secondary_accel+0.01 if enabled else 3.03,  # FIXME: think there are rounding/scaling issues here
+    "ACC_Accel_Secondary": 3.02,  # not using this unless and until we understand its impact
     "ACC_Accel_TSK": accel if enabled else 3.01,
   }
 
   return packer.make_can_msg("ACC_07", bus, values, idx)
+
+def create_mqb_acc_13_control(packer, bus, enabled, acc_13_stock_values):
+  values = acc_13_stock_values.copy()
+
+  values.update({
+    "Unknown_Status": 15,
+    "ACC_Engaged": enabled,
+  })
+
+  return packer.make_can_msg("ACC_13", bus, values)