From 7b92b7df36846c7bd159c2021841959b19085380 Mon Sep 17 00:00:00 2001 From: Jason Young Date: Wed, 1 Dec 2021 21:45:10 -0500 Subject: [PATCH] fix ACC_04 counter, fix gradient and accel bugs --- selfdrive/car/volkswagen/carcontroller.py | 2 +- selfdrive/car/volkswagen/volkswagencan.py | 11 +++++------ 2 files changed, 6 insertions(+), 7 deletions(-) diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index ef4370752a..0cfbefdf82 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.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 ************************************************ # diff --git a/selfdrive/car/volkswagen/volkswagencan.py b/selfdrive/car/volkswagen/volkswagencan.py index f1a1643986..32cc88ca40 100644 --- a/selfdrive/car/volkswagen/volkswagencan.py +++ b/selfdrive/car/volkswagen/volkswagencan.py @@ -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, }