From e17e3c56e38e4dd097e7c47f5c23bebb16352dac Mon Sep 17 00:00:00 2001 From: Jason Young Date: Mon, 12 Oct 2020 20:36:58 -0400 Subject: [PATCH] Fix ACC setpoint scaling and SWA_01/LDW_02 checks --- selfdrive/car/volkswagen/carstate.py | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index 4a317f929..ee82b8e4d 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -118,7 +118,7 @@ class CarState(CarStateBase): # Update ACC setpoint. When the setpoint is zero or there's an error, the # radar sends a set-speed of ~90.69 m/s / 203mph. - ret.cruiseState.speed = acc_cp.vl["ACC_02"]["ACC_Wunschgeschw"] + ret.cruiseState.speed = acc_cp.vl["ACC_02"]["ACC_Wunschgeschw"] * CV.KPH_TO_MS if ret.cruiseState.speed > 90: ret.cruiseState.speed = 0 @@ -239,7 +239,8 @@ class CarState(CarStateBase): ("SWA_Warnung_SWA_re", "SWA_01", 0), # Blindspot object warning, right ("ACC_Wunschgeschw", "ACC_02", 0)] # ACC set speed checks += [("ACC_10", 50), # From J428 ACC radar control module - ("SWA_01", 20), # From J1086 Lane Change Assist module + # FIXME: SWA_01 should be checked when we have better detection of installed hardware + #("SWA_01", 20), # From J1086 Lane Change Assist module ("ACC_02", 17)] # From J428 ACC radar control module return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, CANBUS.pt) @@ -259,7 +260,8 @@ class CarState(CarStateBase): checks = [ # sig_address, frequency - ("LDW_02", 10), # From R242 Driver assistance camera + # FIXME: LDW_02 should be checked when we have better detection of installed hardware + #("LDW_02", 10), # From R242 Driver assistance camera ] if CP.networkLocation == NWL.gateway: @@ -275,7 +277,8 @@ class CarState(CarStateBase): ("SWA_Warnung_SWA_re", "SWA_01", 0), # Blindspot object warning, right ("ACC_Wunschgeschw", "ACC_02", 0)] # ACC set speed checks += [("ACC_10", 50), # From J428 ACC radar control module - ("SWA_01", 20), # From J1086 Lane Change Assist module + # FIXME: SWA_01 should be checked when we have better detection of installed hardware + #("SWA_01", 20), # From J1086 Lane Change Assist module ("ACC_02", 17)] # From J428 ACC radar control module return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, CANBUS.cam)