From 11730b8077b8fc1e2ab0a850ab2a61c11e95481d Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Thu, 9 Sep 2021 15:21:04 -0500 Subject: [PATCH] VW MQB: Fix for rare autoresume problems (#22176) --- selfdrive/car/volkswagen/carcontroller.py | 1 - selfdrive/car/volkswagen/carstate.py | 4 ++-- 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index 970ba87825..2632bd7694 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/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 diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index f74484bd20..036fe2cd7c 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/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