diff reduction

selfdrive/car/volkswagen/carstate.py

@@ -107,12 +107,11 @@ class CarState(CarStateBase):
 
     # Update ACC radar status.
     self.acc_type = ext_cp.vl["ACC_06"]["ACC_Typ"]
-    self.tsk_status = pt_cp.vl["TSK_06"]["TSK_Status"]
-    if self.tsk_status == 2:
+    if pt_cp.vl["TSK_06"]["TSK_Status"] == 2:
       # ACC okay and enabled, but not currently engaged
       ret.cruiseState.available = True
       ret.cruiseState.enabled = False
-    elif self.tsk_status in (3, 4, 5):
+    elif pt_cp.vl["TSK_06"]["TSK_Status"] in (3, 4, 5):
       # ACC okay and enabled, currently regulating speed (3) or driver accel override (4) or brake only (5)
       ret.cruiseState.available = True
       ret.cruiseState.enabled = True
@@ -120,6 +119,7 @@ class CarState(CarStateBase):
       # ACC okay but disabled (1), or a radar visibility or other fault/disruption (6 or 7)
       ret.cruiseState.available = False
       ret.cruiseState.enabled = False
+      ret.accFaulted = True
     ret.cruiseState.standstill = bool(pt_cp.vl["ESP_21"]["ESP_Haltebestaetigung"])
     ret.accFaulted = pt_cp.vl["TSK_06"]["TSK_Status"] in (6, 7)