the code is darkest before the refactor

selfdrive/car/volkswagen/carcontroller.py

@@ -41,41 +41,44 @@ class CarController():
         else:
           acc_status = CS.tsk_status
 
-        accel = actuators.accel if enabled else 0
-        accel = clip(accel, P.ACCEL_MIN, P.ACCEL_MAX) if enabled else 0
+        accel = clip(actuators.accel, P.ACCEL_MIN, P.ACCEL_MAX) if enabled else 0
 
         # FIXME: this needs to become a proper state machine
-        acc_hold_request, acc_hold_release = False, False
-        if actuators.longControlState == LongCtrlState.stopping:
+        acc_hold_request, acc_hold_release, acc_hold_type, stopping_distance = False, False, 0, 0
+        if actuators.longControlState == LongCtrlState.stopping and CS.out.vEgo < 0.2:
           self.acc_stopping = True
-          acc_hold_request = not CS.esp_hold_confirmation  # Send hold request for ABS/ESP brake-hold until acked
+          if CS.esp_hold_confirmation:
+            acc_hold_type = 1  # hold
+            stopping_distance = 3.5
+          else:
+            acc_hold_type = 3  # hold_standby
+            stopping_distance = 0.5
         elif enabled:
           if self.acc_stopping:
             self.acc_starting = True
             self.acc_stopping = False
-          self.acc_starting &= CS.out.vEgo < CS.CP.vEgoStarting
-          acc_hold_release = CS.esp_hold_confirmation  # Send release request for ABS/ESP brake-hold until acked
+          self.acc_starting &= CS.out.vEgo < 1.5
+          acc_hold_release = self.acc_starting
+          stopping_distance = 20.46
+          if CS.esp_hold_confirmation:
+            acc_hold_type = 4  # startup
+          else:
+            acc_hold_type = 0  # no_request
         else:
           self.acc_stopping, self.acc_starting = False, False
 
-        # Hopefully, have PI yank the lag out and let the drivetrain coordinator make it smooth again
-        cb_pos = 0.0 if lead_visible or CS.out.vEgo < 2.0 else 0.2  # react faster to lead cars, also don't get hung up at DSG clutch release/kiss points when creeping to stop
-        cb_neg = 0.0 if accel < 0 else 0.2  # IDK why, but stock likes to zero this out when accel is negative
+        acc_hold_request = self.acc_stopping or (self.acc_starting and CS.esp_hold_confirmation)
 
-        if acc_hold_request:
-          weird_value = 0x88
-        elif self.acc_stopping:
-          weird_value = 0x95
-        else:
-          weird_value = 0x7F
+        cb_pos = 0.0 if lead_visible or CS.out.vEgo < 2.0 else 0.1  # react faster to lead cars, also don't get hung up at DSG clutch release/kiss points when creeping to stop
+        cb_neg = 0.0 if accel < 0 else 0.2  # IDK why, but stock likes to zero this out when accel is negative
 
         idx = (frame / P.ACC_CONTROL_STEP) % 16
         can_sends.append(volkswagencan.create_mqb_acc_06_control(self.packer_pt, CANBUS.pt, enabled, acc_status,
                                                                  accel, self.acc_stopping, self.acc_starting,
                                                                  cb_pos, cb_neg, idx))
         can_sends.append(volkswagencan.create_mqb_acc_07_control(self.packer_pt, CANBUS.pt, enabled,
-                                                                 accel, self.acc_stopping, self.acc_starting,
-                                                                 acc_hold_request, acc_hold_release, weird_value, idx))
+                                                                 accel, acc_hold_request, acc_hold_release,
+                                                                 acc_hold_type, stopping_distance, idx))
 
       if frame % P.ACC_HUD_STEP == 0:
         idx = (frame / P.ACC_HUD_STEP) % 16

selfdrive/car/volkswagen/interface.py

@@ -66,15 +66,13 @@ class CarInterface(CarInterfaceBase):
     # Global longitudinal tuning defaults, can be overridden per-vehicle
 
     ret.pcmCruise = not ret.openpilotLongitudinalControl
-    ret.longitudinalActuatorDelayLowerBound = 0.5  # s
     ret.longitudinalActuatorDelayUpperBound = 1.0  # s
     ret.stoppingControl = True
-    ret.vEgoStopping = 0.2
-    ret.vEgoStarting = 0.2
-    ret.stopAccel = 0.0
+    ret.vEgoStopping = 0.4
+    ret.vEgoStarting = 0.5
     ret.startAccel = 0.0
-    ret.startingAccelRate = 6.0
-    ret.longitudinalTuning.kpV = [0.1]
+    ret.stopAccel = -1.0
+    ret.longitudinalTuning.kpV = [0.0]
     ret.longitudinalTuning.kiV = [0.0]
 
     # Per-chassis tuning values, override tuning defaults here if desired

selfdrive/car/volkswagen/volkswagencan.py

@@ -65,20 +65,16 @@ def create_mqb_acc_06_control(packer, bus, enabled, acc_status, accel, acc_stopp
 
   return packer.make_can_msg("ACC_06", bus, values, idx)
 
-def create_mqb_acc_07_control(packer, bus, enabled, accel, acc_stopping, acc_starting, acc_hold_request,
-                              acc_hold_release, weird_value, idx):
+def create_mqb_acc_07_control(packer, bus, enabled, accel, acc_hold_request, acc_hold_release,
+                              acc_hold_type, stopping_distance, idx):
   values = {
-    "XXX_Maybe_Engine_Start_Request": 2,  # TODO
-    "XXX_Always_1": 1,
-    "XXX_Maybe_Engine_Stop_Release": not acc_hold_request,  # TODO this isn't S/S, AHR but also slight delay past AHR
-    "XXX_Unknown": weird_value,  # FIXME: Should try to figure out what's really going on here
-    "ACC_Engaged": enabled,
-    "ACC_Anhalten": acc_stopping,
-    "ACC_Anhaltevorgang": acc_hold_request,
-    "ACC_Anfahrvorgang": acc_hold_release,
-    "ACC_Anfahren": acc_starting,
-    "ACC_Sollbeschleunigung_01": accel if enabled else 3.01,
-    "ACC_Sollbeschleunigung_03": accel if enabled else 0,
+    "ACC_Distance_to_Stop": stopping_distance,
+    "ACC_Hold_Request": acc_hold_request,
+    "ACC_Freewheel_Type": 2,
+    "ACC_Hold_Type": acc_hold_type,
+    "ACC_Hold_Release": acc_hold_release,
+    "ACC_Accel_Secondary": accel if enabled else 0,
+    "ACC_Accel_Primary": accel if enabled else 3.01,
   }
 
   return packer.make_can_msg("ACC_07", bus, values, idx)