From eee545e62a27bf6852073569441f290097711f3d Mon Sep 17 00:00:00 2001 From: Jason Young Date: Fri, 31 Jul 2020 13:06:06 -0400 Subject: [PATCH] Track changes to HCA_01 in CAN message packer --- selfdrive/car/volkswagen/volkswagencan.py | 14 +++++--------- 1 file changed, 5 insertions(+), 9 deletions(-) diff --git a/selfdrive/car/volkswagen/volkswagencan.py b/selfdrive/car/volkswagen/volkswagencan.py index ef93aadec..c60e5da87 100644 --- a/selfdrive/car/volkswagen/volkswagencan.py +++ b/selfdrive/car/volkswagen/volkswagencan.py @@ -3,15 +3,11 @@ def create_mqb_steering_control(packer, bus, apply_steer, idx, lkas_enabled): values = { - "SET_ME_0X3": 0x3, - "Assist_Torque": abs(apply_steer), - "Assist_Requested": lkas_enabled, - "Assist_VZ": 1 if apply_steer < 0 else 0, - "HCA_Available": 1, - "HCA_Standby": not lkas_enabled, - "HCA_Active": lkas_enabled, - "SET_ME_0XFE": 0xFE, - "SET_ME_0X07": 0x07, + "HCA_System_Status": 0x3, + "LM_Offset": abs(apply_steer), + "LM_Offset_Valid": lkas_enabled, + "LM_Offsign": 1 if apply_steer < 0 else 0, + "HCA_Control_Status": 0x5 if lkas_enabled else 0x3, } return packer.make_can_msg("HCA_01", bus, values, idx)