Merge branch 'mqb-long-prereqs' into mqb-long

# Conflicts:
#	selfdrive/car/volkswagen/carcontroller.py
#	selfdrive/car/volkswagen/carstate.py
#	selfdrive/car/volkswagen/interface.py

selfdrive/car/volkswagen/carcontroller.py

@@ -143,16 +143,15 @@ class CarController():
 
     # FIXME: this entire section is in desperate need of refactoring
 
-    if not CS.CP.openpilotLongitudinalControl:
+    if CS.CP.pcmCruise:
       if frame > self.graMsgStartFramePrev + P.GRA_VBP_STEP:
         if not enabled and CS.out.cruiseState.enabled:
           # Cancel ACC if it's engaged with OP disengaged.
           self.graButtonStatesToSend = BUTTON_STATES.copy()
           self.graButtonStatesToSend["cancel"] = True
-        elif enabled and CS.out.standstill and CS.esp_hold_confirmation:
+        elif enabled and CS.esp_hold_confirmation:
           # Blip the Resume button if we're engaged at standstill.
           # FIXME: This is a naive implementation, improve with visiond or radar input.
-          # A subset of MQBs like to "creep" too aggressively with this implementation.
           self.graButtonStatesToSend = BUTTON_STATES.copy()
           self.graButtonStatesToSend["resumeCruise"] = True
 

selfdrive/car/volkswagen/carstate.py

@@ -27,7 +27,7 @@ class CarState(CarStateBase):
 
     ret.vEgoRaw = float(np.mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr]))
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    ret.standstill = ret.vEgoRaw < 0.1
+    ret.standstill = ret.vEgo < 0.1
 
     # Update steering angle, rate, yaw rate, and driver input torque. VW send
     # the sign/direction in a separate signal so they must be recombined.
@@ -109,9 +109,9 @@ class CarState(CarStateBase):
       ret.cruiseState.available = False
       ret.cruiseState.enabled = False
 
-    if not self.CP.openpilotLongitudinalControl:
-      # Update ACC setpoint. When the setpoint is zero or there's an error, the
-      # radar sends a set-speed of ~90.69 m/s / 203mph.
+    # Update ACC setpoint. When the setpoint is zero or there's an error, the
+    # radar sends a set-speed of ~90.69 m/s / 203mph.
+    if self.CP.pcmCruise:
       ret.cruiseState.speed = ext_cp.vl["ACC_02"]["ACC_Wunschgeschw"] * CV.KPH_TO_MS
       if ret.cruiseState.speed > 90:
         ret.cruiseState.speed = 0