diff --git a/docs/CARS.md b/docs/CARS.md
index fa1b54c1c3..55413e208b 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -11,12 +11,12 @@ A supported vehicle is one that just works when you install a comma three. All s
|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[](##)|[](##)|Honda Nidec|
|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec|
|Acura|RDX 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
+|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
+|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
+|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
+|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
+|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|Cadillac|Escalade ESV 2016[3](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|6 mph|[](##)|[](##)|OBD-II|
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[](##)|[](##)|GM|
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[1](#footnotes)|3 mph|6 mph|[](##)|[](##)|GM|
@@ -129,8 +129,8 @@ A supported vehicle is one that just works when you install a comma three. All s
|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|Nissan A|
|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|Nissan A|
|Ram|1500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[](##)|[](##)|Ram|
-|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
+|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
|Subaru|Crosstrek 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
@@ -141,13 +141,13 @@ A supported vehicle is one that just works when you install a comma three. All s
|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[](##)|[](##)|Subaru B|
|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
-|Škoda|Kamiq 2021[6](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533[8](#footnotes)|
-|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Škoda|Kodiaq 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533[8](#footnotes)|
-|Škoda|Superb 2015-18|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|Škoda|Kamiq 2021[6](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533[9](#footnotes)|
+|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
+|Škoda|Kodiaq 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
+|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
+|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
+|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533[9](#footnotes)|
+|Škoda|Superb 2015-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
@@ -188,37 +188,37 @@ A supported vehicle is one that just works when you install a comma three. All s
|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|Sienna 2018-20|All|openpilot available[2](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
-|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|31 mph|[](##)|[](##)|J533|
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|31 mph|[](##)|[](##)|J533|
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Passat 2015-22[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Polo 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533[8](#footnotes)|
-|Volkswagen|Polo GTI 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533[8](#footnotes)|
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533[8](#footnotes)|
-|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533[8](#footnotes)|
-|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Tiguan 2019-22|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
-|Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|31 mph|[](##)|[](##)|J533|
+|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|31 mph|[](##)|[](##)|J533|
+|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Passat 2015-22[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Polo 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533[9](#footnotes)|
+|Volkswagen|Polo GTI 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533[9](#footnotes)|
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533[9](#footnotes)|
+|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533[9](#footnotes)|
+|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Tiguan 2019-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
1Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `master-ci`. Using openpilot longitudinal may disable Automatic Emergency Braking (AEB).
@@ -228,7 +228,8 @@ A supported vehicle is one that just works when you install a comma three. All s
5openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
6Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.
7Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.
-8Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store.
+8Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC.
+9Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store.
## Community Maintained Cars
Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index ca6d1fa7f8..816e7fcf34 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -27,12 +27,14 @@ class CarInterface(CarInterfaceBase):
ret.carName = "volkswagen"
ret.radarOffCan = True
+ use_off_car_defaults = len(fingerprint[0]) == 0 # Pick sensible carParams during offline doc generation/CI jobs
+
if candidate in PQ_CARS:
# Set global PQ35/PQ46/NMS parameters
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagenPq)]
ret.enableBsm = 0x3BA in fingerprint[0] # SWA_1
- if 0x440 in fingerprint[0] or len(fingerprint[0]) == 0: # Getriebe_1, or empty FP for CI/docs generation
+ if 0x440 in fingerprint[0] or use_off_car_defaults: # Getriebe_1
ret.transmissionType = TransmissionType.automatic
else:
ret.transmissionType = TransmissionType.manual
@@ -55,7 +57,7 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagen)]
ret.enableBsm = 0x30F in fingerprint[0] # SWA_01
- if 0xAD in fingerprint[0] or len(fingerprint[0]) == 0: # Getriebe_11, or empty FP for CI/docs generation
+ if 0xAD in fingerprint[0] or use_off_car_defaults: # Getriebe_11
ret.transmissionType = TransmissionType.automatic
elif 0x187 in fingerprint[0]: # EV_Gearshift
ret.transmissionType = TransmissionType.direct
@@ -81,8 +83,8 @@ class CarInterface(CarInterfaceBase):
# Global longitudinal tuning defaults, can be overridden per-vehicle
- ret.experimentalLongitudinalAvailable = ret.networkLocation == NetworkLocation.gateway and False # Disabled for now
- if experimental_long and False: # Disabled for now
+ ret.experimentalLongitudinalAvailable = ret.networkLocation == NetworkLocation.gateway or use_off_car_defaults
+ if experimental_long:
# Proof-of-concept, prep for E2E only. No radar points available. Panda ALLOW_DEBUG firmware required.
ret.openpilotLongitudinalControl = True
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_VOLKSWAGEN_LONG_CONTROL
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 74b111a99e..babaffbcbe 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -1,5 +1,5 @@
from collections import defaultdict, namedtuple
-from dataclasses import dataclass
+from dataclasses import dataclass, field
from enum import Enum
from typing import Dict, List, Union
@@ -151,6 +151,10 @@ class Footnote(Enum):
PASSAT = CarFootnote(
"Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.",
Column.MODEL)
+ VW_EXP_LONG = CarFootnote (
+ "Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness " +
+ "are limited to using stock ACC.",
+ Column.LONGITUDINAL)
VW_MQB_A0 = CarFootnote(
"Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot " +
"in software, but doesn't yet have a harness available from the comma store.",
@@ -161,6 +165,7 @@ class Footnote(Enum):
class VWCarInfo(CarInfo):
package: str = "Adaptive Cruise Control (ACC) & Lane Assist"
harness: Enum = Harness.j533
+ footnotes: List[Enum] = field(default_factory=lambda: [Footnote.VW_EXP_LONG])
CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
@@ -192,28 +197,28 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
VWCarInfo("Volkswagen Jetta GLI 2021-22"),
],
CAR.PASSAT_MK8: [
- VWCarInfo("Volkswagen Passat 2015-22", footnotes=[Footnote.PASSAT]),
+ VWCarInfo("Volkswagen Passat 2015-22", footnotes=[Footnote.VW_EXP_LONG, Footnote.PASSAT]),
VWCarInfo("Volkswagen Passat Alltrack 2015-22"),
VWCarInfo("Volkswagen Passat GTE 2015-22"),
],
CAR.PASSAT_NMS: VWCarInfo("Volkswagen Passat NMS 2017-22"),
CAR.POLO_MK6: [
- VWCarInfo("Volkswagen Polo 2020-22", footnotes=[Footnote.VW_MQB_A0]),
- VWCarInfo("Volkswagen Polo GTI 2020-22", footnotes=[Footnote.VW_MQB_A0]),
+ VWCarInfo("Volkswagen Polo 2020-22", footnotes=[Footnote.VW_EXP_LONG, Footnote.VW_MQB_A0]),
+ VWCarInfo("Volkswagen Polo GTI 2020-22", footnotes=[Footnote.VW_EXP_LONG, Footnote.VW_MQB_A0]),
],
CAR.SHARAN_MK2: [
VWCarInfo("Volkswagen Sharan 2018-22"),
VWCarInfo("SEAT Alhambra 2018-20"),
],
CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022"),
- CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_MQB_A0]),
+ CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_EXP_LONG, Footnote.VW_MQB_A0]),
CAR.TIGUAN_MK2: VWCarInfo("Volkswagen Tiguan 2019-22"),
CAR.TOURAN_MK2: VWCarInfo("Volkswagen Touran 2017"),
CAR.TRANSPORTER_T61: [
VWCarInfo("Volkswagen Caravelle 2020"),
VWCarInfo("Volkswagen California 2021"),
],
- CAR.TROC_MK1: VWCarInfo("Volkswagen T-Roc 2021", footnotes=[Footnote.VW_MQB_A0]),
+ CAR.TROC_MK1: VWCarInfo("Volkswagen T-Roc 2021", footnotes=[Footnote.VW_EXP_LONG, Footnote.VW_MQB_A0]),
CAR.AUDI_A3_MK3: [
VWCarInfo("Audi A3 2014-19"),
VWCarInfo("Audi A3 Sportback e-tron 2017-18"),
@@ -224,10 +229,10 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
CAR.AUDI_Q3_MK2: VWCarInfo("Audi Q3 2019-23"),
CAR.SEAT_ATECA_MK1: VWCarInfo("SEAT Ateca 2018"),
CAR.SEAT_LEON_MK3: VWCarInfo("SEAT Leon 2014-20"),
- CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ]),
+ CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021", footnotes=[Footnote.VW_EXP_LONG, Footnote.VW_MQB_A0, Footnote.KAMIQ]),
CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-21"),
CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2018-19"),
- CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020", footnotes=[Footnote.VW_MQB_A0]),
+ CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020", footnotes=[Footnote.VW_EXP_LONG, Footnote.VW_MQB_A0]),
CAR.SKODA_SUPERB_MK3: VWCarInfo("Škoda Superb 2015-18"),
CAR.SKODA_OCTAVIA_MK3: [
VWCarInfo("Škoda Octavia 2015, 2018-19"),