Updates to Volkswagen port (#1147)

* Remove unreachable Radar Fault alert code
* Update max torque
old-commit-hash: c2200baf60

panda

@@ -1 +1 @@
-Subproject commit 43687488518a870625ee907723d74549729d7241
+Subproject commit c7d0d5fc7b089094a2d42c21d25fbfb570d17677

selfdrive/car/volkswagen/carstate.py

@@ -61,25 +61,17 @@ class CarState(CarStateBase):
     self.displayMetricUnits = not pt_cp.vl["Einheiten_01"]["KBI_MFA_v_Einheit_02"]
 
     # Update ACC radar status.
-    accStatus = pt_cp.vl["ACC_06"]['ACC_Status_ACC']
-    if accStatus == 1:
-      # ACC okay but disabled
-      self.accFault = False
-      ret.cruiseState.available = False
-      ret.cruiseState.enabled = False
-    elif accStatus == 2:
+    accStatus = pt_cp.vl["TSK_06"]['TSK_Status']
+    if accStatus == 2:
       # ACC okay and enabled, but not currently engaged
-      self.accFault = False
       ret.cruiseState.available = True
       ret.cruiseState.enabled = False
     elif accStatus in [3, 4, 5]:
       # ACC okay and enabled, currently engaged and regulating speed (3) or engaged with driver accelerating (4) or overrun (5)
-      self.accFault = False
       ret.cruiseState.available = True
       ret.cruiseState.enabled = True
     else:
-      # ACC fault of some sort. Seen statuses 6 or 7 for CAN comms disruptions, visibility issues, etc.
-      self.accFault = True
+      # ACC okay but disabled (1), or a radar visibility or other fault/disruption (6 or 7)
       ret.cruiseState.available = False
       ret.cruiseState.enabled = False
 
@@ -156,6 +148,7 @@ class CarState(CarStateBase):
       ("ESP_Tastung_passiv", "ESP_21", 0),          # Stability control disabled
       ("KBI_MFA_v_Einheit_02", "Einheiten_01", 0),  # MPH vs KMH speed display
       ("KBI_Handbremse", "Kombi_01", 0),            # Manual handbrake applied
+      ("TSK_Status", "TSK_06", 0),                  # ACC engagement status from drivetrain coordinator
       ("TSK_Fahrzeugmasse_02", "Motor_16", 0),      # Estimated vehicle mass from drivetrain coordinator
       ("ACC_Status_ACC", "ACC_06", 0),              # ACC engagement status
       ("ACC_Typ", "ACC_06", 0),                     # ACC type (follow to stop, stop&go)
@@ -182,6 +175,7 @@ class CarState(CarStateBase):
       ("ESP_21", 50),       # From J104 ABS/ESP controller
       ("ACC_06", 50),       # From J428 ACC radar control module
       ("Motor_20", 50),     # From J623 Engine control module
+      ("TSK_06", 50),       # From J623 Engine control module
       ("GRA_ACC_01", 33),   # From J??? steering wheel control buttons
       ("ACC_02", 17),       # From J428 ACC radar control module
       ("Getriebe_11", 20),  # From J743 Auto transmission control module

selfdrive/car/volkswagen/interface.py

@@ -104,13 +104,9 @@ class CarInterface(CarInterfaceBase):
 
     events = self.create_common_events(ret, extra_gears=[GEAR.eco, GEAR.sport])
 
-    # Vehicle operation safety checks and events
+    # Vehicle health and operation safety checks
     if self.CS.parkingBrakeSet:
       events.append(create_event('parkBrake', [ET.NO_ENTRY, ET.USER_DISABLE]))
-
-    # Vehicle health safety checks and events
-    if self.CS.accFault:
-      events.append(create_event('radarFault', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
     if self.CS.steeringFault:
       events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
 
@@ -140,7 +136,7 @@ class CarInterface(CarInterfaceBase):
     self.buttonStatesPrev = self.CS.buttonStates.copy()
 
     self.CS.out = ret.as_reader()
-    return  self.CS.out
+    return self.CS.out
 
   def apply(self, c):
     can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,

selfdrive/car/volkswagen/values.py

@@ -9,10 +9,10 @@ class CarControllerParams:
   GRA_VBP_COUNT = 16             # Send VBP messages for ~0.5s (GRA_ACC_STEP * 16)
 
   # Observed documented MQB limits: 3.00 Nm max, rate of change 5.00 Nm/sec.
-  # Limiting both torque and rate-of-change based on real-world testing and
-  # Comma's safety requirements for minimum time to lane departure.
-  STEER_MAX = 250                # Max heading control assist torque 2.50 Nm
-  STEER_DELTA_UP = 4             # Max HCA reached in 1.25s (STEER_MAX / (50Hz * 1.25))
+  # Limiting rate-of-change based on real-world testing and Comma's safety
+  # requirements for minimum time to lane departure.
+  STEER_MAX = 300                # Max heading control assist torque 3.00 Nm
+  STEER_DELTA_UP = 4             # Max HCA reached in 1.50s (STEER_MAX / (50Hz * 1.50))
   STEER_DELTA_DOWN = 10          # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))
   STEER_DRIVER_ALLOWANCE = 80
   STEER_DRIVER_MULTIPLIER = 3    # weight driver torque heavily

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-63d3bb517fdac3d953e67ca4a16f2c742388cdc5
+49d2241353626870070cf4dac71b5ac5b105910c

selfdrive/test/process_replay/test_processes.py

@@ -18,11 +18,11 @@ segments = [
   ("HONDA", "99c94dc769b5d96e|2019-08-03--14-19-59--2"),      # HONDA.CIVIC
   ("TOYOTA", "77611a1fac303767|2020-02-29--13-29-33--3"),     # TOYOTA.COROLLA_TSS2
   ("GM", "7cc2a8365b4dd8a9|2018-12-02--12-10-44--2"),         # GM.ACADIA
-  ("CHRYSLER", "b6849f5cf2c926b1|2020-02-28--07-29-48--13"),   # CHRYSLER.PACIFICA
+  ("CHRYSLER", "b6849f5cf2c926b1|2020-02-28--07-29-48--13"),  # CHRYSLER.PACIFICA
   ("HYUNDAI", "38bfd238edecbcd7|2018-08-29--22-02-15--4"),    # HYUNDAI.SANTA_FE
   #("CHRYSLER", "b6e1317e1bfbefa6|2020-03-04--13-11-40"),   # CHRYSLER.JEEP_CHEROKEE
   ("SUBARU", "7873afaf022d36e2|2019-07-03--18-46-44--0"),     # SUBARU.IMPREZA
-  ("VOLKSWAGEN", "b0c9d2329ad1606b|2020-02-19--16-29-36--7"), # VW.GOLF
+  ("VOLKSWAGEN", "76b83eb0245de90e|2020-03-05--19-16-05--3"), # VW.GOLF
 
   # Enable when port is tested and dascamOnly is no longer set
   # ("NISSAN", "fbbfa6af821552b9|2020-03-03--08-09-43--0"),     # NISSAN.XTRAIL