No longer depend on laneless param

selfdrive/car/volkswagen/carcontroller.py

@@ -1,5 +1,4 @@
 from cereal import car
-from common.params import Params
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.volkswagen import volkswagencan
 from selfdrive.car.volkswagen.values import DBC, CANBUS, MQB_LDW_MESSAGES, BUTTON_STATES, CarControllerParams
@@ -19,8 +18,6 @@ class CarController():
     self.graMsgStartFramePrev = 0
     self.graMsgBusCounterPrev = 0
 
-    self.use_lanelines = Params().get('EndToEndToggle') != b'1'
-
     self.steer_rate_limited = False
 
   def update(self, enabled, CS, frame, actuators, visual_alert, left_lane_visible, right_lane_visible, left_lane_depart, right_lane_depart):
@@ -118,14 +115,12 @@ class CarController():
       else:
         hud_alert = MQB_LDW_MESSAGES["none"]
 
-      left_lane_visible = (left_lane_visible and not CS.out.standstill) if self.use_lanelines else True
-      right_lane_visible = (right_lane_visible and not CS.out.standstill) if self.use_lanelines else True
 
       can_sends.append(volkswagencan.create_mqb_hud_control(self.packer_pt, CANBUS.pt, enabled,
                                                             CS.out.steeringPressed, hud_alert, left_lane_visible,
                                                             right_lane_visible, CS.ldw_lane_warning_left,
                                                             CS.ldw_lane_warning_right, CS.ldw_side_dlc_tlc,
-                                                            CS.ldw_dlc, CS.ldw_tlc,
+                                                            CS.ldw_dlc, CS.ldw_tlc, CS.out.standstill,
                                                             left_lane_depart, right_lane_depart))
 
     #--------------------------------------------------------------------------

selfdrive/car/volkswagen/volkswagencan.py

@@ -17,13 +17,13 @@ def create_mqb_steering_control(packer, bus, apply_steer, idx, lkas_enabled):
 
 def create_mqb_hud_control(packer, bus, enabled, steering_pressed, hud_alert, left_lane_visible, right_lane_visible,
                            ldw_lane_warning_left, ldw_lane_warning_right, ldw_side_dlc_tlc, ldw_dlc, ldw_tlc,
-                           left_lane_depart, right_lane_depart):
+                           standstill, left_lane_depart, right_lane_depart):
   if enabled:
-    left_lane_hud = 2 if left_lane_visible else 1
-    right_lane_hud = 2 if right_lane_visible else 1
+    left_lane_hud = 3 if left_lane_visible and not standstill else 2
+    right_lane_hud = 3 if right_lane_visible and not standstill else 2
   else:
-    left_lane_hud = 0
-    right_lane_hud = 0
+    left_lane_hud = 1
+    right_lane_hud = 1
 
   left_lane_hud = 3 if left_lane_depart else left_lane_hud
   right_lane_hud = 3 if right_lane_depart else right_lane_hud