VW MQB: Fix for rare autoresume problems (#22176)

selfdrive/car/volkswagen/carcontroller.py

@@ -96,7 +96,6 @@ class CarController():
       elif enabled and CS.out.standstill:
         # Blip the Resume button if we're engaged at standstill.
         # FIXME: This is a naive implementation, improve with visiond or radar input.
-        # A subset of MQBs like to "creep" too aggressively with this implementation.
         self.graButtonStatesToSend = BUTTON_STATES.copy()
         self.graButtonStatesToSend["resumeCruise"] = True
 

selfdrive/car/volkswagen/carstate.py

@@ -27,8 +27,7 @@ class CarState(CarStateBase):
 
     ret.vEgoRaw = float(np.mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr]))
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-
-    ret.standstill = ret.vEgoRaw < 0.1
+    ret.standstill = bool(pt_cp.vl["ESP_21"]["ESP_Haltebestaetigung"])
 
     # Update steering angle, rate, yaw rate, and driver input torque. VW send
     # the sign/direction in a separate signal so they must be recombined.
@@ -177,6 +176,7 @@ class CarState(CarStateBase):
       ("EPS_VZ_Lenkmoment", "LH_EPS_03", 0),        # Driver torque input sign
       ("EPS_HCA_Status", "LH_EPS_03", 3),           # EPS HCA control status
       ("ESP_Tastung_passiv", "ESP_21", 0),          # Stability control disabled
+      ("ESP_Haltebestaetigung", "ESP_21", 0),       # ESP hold confirmation
       ("KBI_MFA_v_Einheit_02", "Einheiten_01", 0),  # MPH vs KMH speed display
       ("KBI_Handbremse", "Kombi_01", 0),            # Manual handbrake applied
       ("TSK_Status", "TSK_06", 0),                  # ACC engagement status from drivetrain coordinator