From d7c50dbf6fdbb418bebadcd834b5d500239367e7 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Fri, 29 Mar 2024 03:21:40 -0400 Subject: [PATCH] VW MQB: Speed limiter is nonAdaptive (#31954) * VW MQB: Speed limiter is nonAdaptive * revise * Update selfdrive/car/volkswagen/carstate.py * Update selfdrive/car/volkswagen/carstate.py --------- Co-authored-by: Shane Smiskol old-commit-hash: c9685dd297f682cdbf877deec209f1b5c98f234b --- selfdrive/car/volkswagen/carstate.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index 8139fbbf21..fac9de3dc7 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -119,6 +119,8 @@ class CarState(CarStateBase): # currently regulating speed (3), driver accel override (4), brake only (5) ret.cruiseState.available = pt_cp.vl["TSK_06"]["TSK_Status"] in (2, 3, 4, 5) ret.cruiseState.enabled = pt_cp.vl["TSK_06"]["TSK_Status"] in (3, 4, 5) + # Speed limiter mode; ECM faults if we command ACC while not pcmCruise + ret.cruiseState.nonAdaptive = bool(pt_cp.vl["TSK_06"]["TSK_Limiter_ausgewaehlt"]) ret.accFaulted = pt_cp.vl["TSK_06"]["TSK_Status"] in (6, 7) self.esp_hold_confirmation = bool(pt_cp.vl["ESP_21"]["ESP_Haltebestaetigung"])