fix ACC_04 counter, fix gradient and accel bugs

pull/23257/head
Jason Young 4 years ago
parent 77da086b6f
commit 7b92b7df36
  1. 2
      selfdrive/car/volkswagen/carcontroller.py
  2. 11
      selfdrive/car/volkswagen/volkswagencan.py

@ -79,7 +79,7 @@ class CarController():
idx = (frame / P.ACC_HUD_STEP) % 16
can_sends.append(volkswagencan.create_mqb_acc_02_control(self.packer_pt, CANBUS.pt, CS.tsk_status,
set_speed * CV.MS_TO_KPH, speed_visible, lead_visible, idx))
can_sends.append(volkswagencan.create_mqb_acc_04_control(self.packer_pt, CANBUS.pt, CS.acc_04_stock_values))
can_sends.append(volkswagencan.create_mqb_acc_04_control(self.packer_pt, CANBUS.pt, CS.acc_04_stock_values, idx))
# **** Steering Controls ************************************************ #

@ -48,7 +48,6 @@ def create_mqb_acc_buttons_control(packer, bus, buttonStatesToSend, CS, idx):
}
return packer.make_can_msg("GRA_ACC_01", bus, values, idx)
def create_mqb_acc_02_control(packer, bus, acc_status, set_speed, speed_visible, lead_visible, idx):
values = {
"ACC_Status_Anzeige": acc_status,
@ -60,14 +59,14 @@ def create_mqb_acc_02_control(packer, bus, acc_status, set_speed, speed_visible,
return packer.make_can_msg("ACC_02", bus, values, idx)
def create_mqb_acc_04_control(packer, bus, acc_04_stock_values):
def create_mqb_acc_04_control(packer, bus, acc_04_stock_values, idx):
values = acc_04_stock_values.copy()
# Suppress disengagement alert from stock radar when OP long is in use, but passthru FCW/AEB alerts
if values["ACC_Texte_braking_guard"] == 4:
values["ACC_Texte_braking_guard"] = 0
return packer.make_can_msg("ACC_04", bus, values)
return packer.make_can_msg("ACC_04", bus, values, idx)
def create_mqb_acc_06_control(packer, bus, enabled, acc_status, accel, acc_stopping, acc_starting,
cb_pos, cb_neg, idx):
@ -78,8 +77,8 @@ def create_mqb_acc_06_control(packer, bus, enabled, acc_status, accel, acc_stopp
"ACC_Sollbeschleunigung_02": accel if enabled else 3.01,
"ACC_zul_Regelabw_unten": cb_neg,
"ACC_zul_Regelabw_oben": cb_pos,
"ACC_neg_Sollbeschl_Grad_02": 5.0 if enabled else 0,
"ACC_pos_Sollbeschl_Grad_02": 5.0 if enabled else 0,
"ACC_neg_Sollbeschl_Grad_02": 4.0 if enabled else 0,
"ACC_pos_Sollbeschl_Grad_02": 4.0 if enabled else 0,
"ACC_Anfahren": acc_starting,
"ACC_Anhalten": acc_stopping,
}
@ -94,7 +93,7 @@ def create_mqb_acc_07_control(packer, bus, enabled, accel, acc_hold_request, acc
"ACC_Freewheel_Type": 2 if enabled else 0,
"ACC_Hold_Type": acc_hold_type,
"ACC_Hold_Release": acc_hold_release,
"ACC_Accel_Secondary": accel+0.01 if enabled else 3.02,
"ACC_Accel_Secondary": accel+0.01 if enabled else 3.03,
"ACC_Accel_TSK": accel if enabled else 3.01,
}

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