From 7aac2562cfcf0b3dfd840d8b46cf599e52a835ba Mon Sep 17 00:00:00 2001 From: Jason Young Date: Mon, 22 Nov 2021 17:48:18 -0500 Subject: [PATCH] show fixed lead car if lead visible --- selfdrive/car/volkswagen/carcontroller.py | 2 +- selfdrive/car/volkswagen/volkswagencan.py | 5 +++-- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index 3d317dba75..3f22a32291 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -80,7 +80,7 @@ class CarController(): if frame % P.ACC_HUD_STEP == 0: idx = (frame / P.ACC_HUD_STEP) % 16 can_sends.append(volkswagencan.create_mqb_acc_hud_control(self.packer_pt, CANBUS.pt, CS.tsk_status, - set_speed * CV.MS_TO_KPH, speed_visible, idx)) + set_speed * CV.MS_TO_KPH, speed_visible, lead_visible, idx)) # **** Steering Controls ************************************************ # diff --git a/selfdrive/car/volkswagen/volkswagencan.py b/selfdrive/car/volkswagen/volkswagencan.py index 073da69117..a52cb3479f 100644 --- a/selfdrive/car/volkswagen/volkswagencan.py +++ b/selfdrive/car/volkswagen/volkswagencan.py @@ -83,12 +83,13 @@ def create_mqb_acc_07_control(packer, bus, enabled, accel, acc_stopping, acc_sta return packer.make_can_msg("ACC_07", bus, values, idx) -def create_mqb_acc_hud_control(packer, bus, acc_status, set_speed, speed_visible, idx): +def create_mqb_acc_hud_control(packer, bus, acc_status, set_speed, speed_visible, lead_visible, idx): values = { "ACC_Status_Anzeige": acc_status, "ACC_Wunschgeschw": 327.36 if not speed_visible else set_speed, "ACC_Gesetzte_Zeitluecke": 3, - "ACC_Display_Prio": 3 + "ACC_Display_Prio": 3, + "ACC_Abstandsindex": 637 if lead_visible else 0, } return packer.make_can_msg("ACC_02", bus, values, idx)