restore lead car visible for PQ

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

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,

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
   }