From d936fc75e8b668f7d13a11351268072d53bc00f2 Mon Sep 17 00:00:00 2001 From: Jason Young Date: Mon, 22 Nov 2021 16:09:53 -0500 Subject: [PATCH] more cleanup; require gateway integration --- selfdrive/car/volkswagen/interface.py | 10 ++++------ 1 file changed, 4 insertions(+), 6 deletions(-) diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index 0556a9db09..5320e17ace 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -34,12 +34,6 @@ class CarInterface(CarInterfaceBase): ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagen)] ret.enableBsm = 0x30F in fingerprint[0] # SWA_01 - # Disable the radar and let openpilot control longitudinal - # WARNING: THIS DISABLES FACTORY FCW/AEB! - if Params().get_bool("DisableRadar"): - ret.openpilotLongitudinalControl = True - ret.safetyConfigs[0].safetyParam |= Panda.FLAG_VOLKSWAGEN_LONGITUDINAL - if 0xAD in fingerprint[0]: # Getriebe_11 ret.transmissionType = TransmissionType.automatic elif 0x187 in fingerprint[0]: # EV_Gearshift @@ -52,6 +46,10 @@ class CarInterface(CarInterfaceBase): else: ret.networkLocation = NetworkLocation.fwdCamera + if Params().get_bool("DisableRadar") and ret.networkLocation == NetworkLocation.gateway: + ret.openpilotLongitudinalControl = True + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_VOLKSWAGEN_LONGITUDINAL + # Global lateral tuning defaults, can be overridden per-vehicle ret.steerActuatorDelay = 0.05