VW MQB: Min steer speed support, other cleanup (#22324)

* VW MQB: Min steer speed support, other cleanup

* simplify

* more correct

* fix README
old-commit-hash: c51eba3fd6

docs/CARS.md

@@ -140,7 +140,7 @@ Community Maintained Cars and Features
 | Subaru    | Impreza 2017-19               | EyeSight          | Stock            | 0mph               | 0mph         |
 | Volkswagen| Arteon 2021<sup>4</sup>       | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| Atlas 2018-19                 | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| California 2021<sup>4</sup>   | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| California 2021<sup>4</sup>   | Driver Assistance | Stock            | 0mph               | 32mph        |
 | Volkswagen| e-Golf 2014, 2019-20          | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| Golf 2015-20                  | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| Golf Alltrack 2017-18         | Driver Assistance | Stock            | 0mph               | 0mph         |

selfdrive/car/volkswagen/carcontroller.py

@@ -39,7 +39,7 @@ class CarController():
       # torque value. Do that anytime we happen to have 0 torque, or failing that,
       # when exceeding ~1/3 the 360 second timer.
 
-      if enabled and not (CS.out.standstill or CS.out.steerError or CS.out.steerWarning):
+      if enabled and CS.out.vEgo > CS.CP.minSteerSpeed and not (CS.out.standstill or CS.out.steerError or CS.out.steerWarning):
         new_steer = int(round(actuators.steer * P.STEER_MAX))
         apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, P)
         self.steer_rate_limited = new_steer != apply_steer

selfdrive/car/volkswagen/interface.py

@@ -94,6 +94,7 @@ class CarInterface(CarInterfaceBase):
     elif candidate == CAR.TRANSPORTER_T61:
       ret.mass = 1926 + STD_CARGO_KG
       ret.wheelbase = 3.00  # SWB, LWB is 3.40, TBD how to detect difference
+      ret.minSteerSpeed = 14.0
 
     elif candidate == CAR.AUDI_A3_MK3:
       ret.mass = 1335 + STD_CARGO_KG
@@ -135,16 +136,13 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 1505 + STD_CARGO_KG
       ret.wheelbase = 2.84
 
-    # TODO: get actual value, for now starting with reasonable value for
+    else:
-    # civic and scaling by mass and wheelbase
+      raise ValueError("unsupported car %s" % candidate)
-    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
 
-    # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
+    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
-    # mass and CG position, so all cars will have approximately similar dyn behaviors
     ret.centerToFront = ret.wheelbase * 0.45
     ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
                                                                          tire_stiffness_factor=tire_stiffness_factor)
-
     return ret
 
   # returns a car.CarState
@@ -182,6 +180,14 @@ class CarInterface(CarInterfaceBase):
     if self.CS.parkingBrakeSet:
       events.add(EventName.parkBrake)
 
+    # Low speed steer alert hysteresis logic
+    if ret.vEgo < (self.CP.minSteerSpeed + 1.):
+      self.low_speed_alert = True
+    elif ret.vEgo > (self.CP.minSteerSpeed + 2.):
+      self.low_speed_alert = False
+    if self.low_speed_alert:
+      events.add(EventName.belowSteerSpeed)
+
     ret.events = events.to_msg()
     ret.buttonEvents = buttonEvents