VW: update LKA HUD to be more logically accurate (#31895)

* VW: update LKA HUD to be more logically accurate

* consistent case

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 9244f0f0d5

selfdrive/car/volkswagen/carcontroller.py

@@ -92,7 +92,7 @@ class CarController(CarControllerBase):
       hud_alert = 0
       if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw):
         hud_alert = self.CCP.LDW_MESSAGES["laneAssistTakeOver"]
-      can_sends.append(self.CCS.create_lka_hud_control(self.packer_pt, CANBUS.pt, CS.ldw_stock_values, CC.enabled,
+      can_sends.append(self.CCS.create_lka_hud_control(self.packer_pt, CANBUS.pt, CS.ldw_stock_values, CC.latActive,
                                                        CS.out.steeringPressed, hud_alert, hud_control))
 
     if self.frame % self.CCP.ACC_HUD_STEP == 0 and self.CP.openpilotLongitudinalControl:

selfdrive/car/volkswagen/mqbcan.py

@@ -28,7 +28,7 @@ def create_eps_update(packer, bus, eps_stock_values, ea_simulated_torque):
   return packer.make_can_msg("LH_EPS_03", bus, values)
 
 
-def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control):
+def create_lka_hud_control(packer, bus, ldw_stock_values, lat_active, steering_pressed, hud_alert, hud_control):
   values = {}
   if len(ldw_stock_values):
     values = {s: ldw_stock_values[s] for s in [
@@ -40,8 +40,8 @@ def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pres
     ]}
 
   values.update({
-    "LDW_Status_LED_gelb": 1 if enabled and steering_pressed else 0,
+    "LDW_Status_LED_gelb": 1 if lat_active and steering_pressed else 0,
-    "LDW_Status_LED_gruen": 1 if enabled and not steering_pressed else 0,
+    "LDW_Status_LED_gruen": 1 if lat_active and not steering_pressed else 0,
     "LDW_Lernmodus_links": 3 if hud_control.leftLaneDepart else 1 + hud_control.leftLaneVisible,
     "LDW_Lernmodus_rechts": 3 if hud_control.rightLaneDepart else 1 + hud_control.rightLaneVisible,
     "LDW_Texte": hud_alert,

selfdrive/car/volkswagen/pqcan.py

@@ -9,7 +9,7 @@ def create_steering_control(packer, bus, apply_steer, lkas_enabled):
   return packer.make_can_msg("HCA_1", bus, values)
 
 
-def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control):
+def create_lka_hud_control(packer, bus, ldw_stock_values, lat_active, steering_pressed, hud_alert, hud_control):
   values = {}
   if len(ldw_stock_values):
     values = {s: ldw_stock_values[s] for s in [
@@ -21,8 +21,8 @@ def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pres
     ]}
 
   values.update({
-    "LDW_Lampe_gelb": 1 if enabled and steering_pressed else 0,
+    "LDW_Lampe_gelb": 1 if lat_active and steering_pressed else 0,
-    "LDW_Lampe_gruen": 1 if enabled and not steering_pressed else 0,
+    "LDW_Lampe_gruen": 1 if lat_active and not steering_pressed else 0,
     "LDW_Lernmodus_links": 3 if hud_control.leftLaneDepart else 1 + hud_control.leftLaneVisible,
     "LDW_Lernmodus_rechts": 3 if hud_control.rightLaneDepart else 1 + hud_control.rightLaneVisible,
     "LDW_Textbits": hud_alert,