VW: check cruise control (#32049)

* VW: check cruise control!

* fix that

* fix that

* Update ref_commit

selfdrive/car/volkswagen/carstate.py

@@ -119,8 +119,15 @@ class CarState(CarStateBase):
     # currently regulating speed (3), driver accel override (4), brake only (5)
     ret.cruiseState.available = pt_cp.vl["TSK_06"]["TSK_Status"] in (2, 3, 4, 5)
     ret.cruiseState.enabled = pt_cp.vl["TSK_06"]["TSK_Status"] in (3, 4, 5)
-    # Speed limiter mode; ECM faults if we command ACC while not pcmCruise
-    ret.cruiseState.nonAdaptive = bool(pt_cp.vl["TSK_06"]["TSK_Limiter_ausgewaehlt"])
+
+    if self.CP.pcmCruise:
+      # Cruise Control mode; check for distance UI setting from the radar.
+      # ECM does not manage this, so do not need to check for openpilot longitudinal
+      ret.cruiseState.nonAdaptive = ext_cp.vl["ACC_02"]["ACC_Gesetzte_Zeitluecke"] == 0
+    else:
+      # Speed limiter mode; ECM faults if we command ACC while not pcmCruise
+      ret.cruiseState.nonAdaptive = bool(pt_cp.vl["TSK_06"]["TSK_Limiter_ausgewaehlt"])
+
     ret.accFaulted = pt_cp.vl["TSK_06"]["TSK_Status"] in (6, 7)
 
     self.esp_hold_confirmation = bool(pt_cp.vl["ESP_21"]["ESP_Haltebestaetigung"])

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-f77699bfd783ab0c9a419f2af883b36aed20cc68
+28001018eae89eb4906717bebf892345ad590b5a