From d5fe666e56cda7d9afdb1f5eff1bb93d88a9aca6 Mon Sep 17 00:00:00 2001 From: Jason Young Date: Tue, 13 Sep 2022 22:25:17 -0400 Subject: [PATCH] restore lead car visible for PQ --- selfdrive/car/volkswagen/carcontroller.py | 3 ++- selfdrive/car/volkswagen/mqbcan.py | 2 +- selfdrive/car/volkswagen/pqcan.py | 5 +++-- 3 files changed, 6 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index bf6256759..67a4aba6b 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -89,7 +89,8 @@ 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? - can_sends.append(self.CCS.create_acc_hud_control(self.packer_pt, CANBUS.pt, acc_hud_status, set_speed)) + can_sends.append(self.CCS.create_acc_hud_control(self.packer_pt, CANBUS.pt, acc_hud_status, set_speed, + hud_control.leadVisible)) # **** Stock ACC Button Controls **************************************** # diff --git a/selfdrive/car/volkswagen/mqbcan.py b/selfdrive/car/volkswagen/mqbcan.py index 9d216b533..9cff33fb9 100644 --- a/selfdrive/car/volkswagen/mqbcan.py +++ b/selfdrive/car/volkswagen/mqbcan.py @@ -96,7 +96,7 @@ def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control, return commands -def create_acc_hud_control(packer, bus, acc_hud_status, set_speed): +def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_visible): values = { "ACC_Status_Anzeige": acc_hud_status, "ACC_Wunschgeschw": set_speed if set_speed < 250 else 327.36, diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py index cde6410e1..b7e84f8ce 100644 --- a/selfdrive/car/volkswagen/pqcan.py +++ b/selfdrive/car/volkswagen/pqcan.py @@ -76,12 +76,13 @@ def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control, return commands -def create_acc_hud_control(packer, bus, acc_hud_status, set_speed): +def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_visible): values = { "ACA_StaACC": acc_hud_status, "ACA_Zeitluecke": 2, "ACA_V_Wunsch": set_speed, - # TODO: ACA_gemZeitl, ACA_ID_StaACC, ACA_AnzDisplay, ACA_kmh_mph, ACA_PrioDisp, ACA_Aend_Zeitluecke + "ACA_gemZeitl": 8 if lead_visible else 0, + # TODO: ACA_ID_StaACC, ACA_AnzDisplay, ACA_kmh_mph, ACA_PrioDisp, ACA_Aend_Zeitluecke # display/display-prio handling probably needed to stop confusing the instrument cluster # kmh_mph handling probably needed to resolve rounding errors in displayed setpoint }