From 452a78868b842c92e9cfd89084b498efcf7afea8 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Sun, 16 Apr 2023 00:02:33 -0400 Subject: [PATCH] VW MQB: Cleanup HCA control message (#27757) * VW MQB: Cleanup HCA control message * bump panda * bump submodules * bump panda/opendbc to comma master --------- Co-authored-by: Adeeb Shihadeh old-commit-hash: 3e960b0b32a7134c3bc86b14e6f4493a38f2ec61 --- selfdrive/car/volkswagen/mqbcan.py | 15 ++++++--------- 1 file changed, 6 insertions(+), 9 deletions(-) diff --git a/selfdrive/car/volkswagen/mqbcan.py b/selfdrive/car/volkswagen/mqbcan.py index 89de933ae8..b461fd02ae 100644 --- a/selfdrive/car/volkswagen/mqbcan.py +++ b/selfdrive/car/volkswagen/mqbcan.py @@ -1,14 +1,11 @@ def create_steering_control(packer, bus, apply_steer, 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_01_Status_HCA": 5 if lkas_enabled else 3, + "HCA_01_LM_Offset": abs(apply_steer), + "HCA_01_LM_OffSign": 1 if apply_steer < 0 else 0, + "HCA_01_Vib_Freq": 18, + "HCA_01_Sendestatus": 1 if lkas_enabled else 0, + "EA_ACC_Wunschgeschwindigkeit": 327.36, } return packer.make_can_msg("HCA_01", bus, values)