VW PQ: Follow-to-Stop support (#26616)

old-commit-hash: 44e9ea23bd

selfdrive/car/volkswagen/carstate.py

@@ -220,7 +220,7 @@ class CarState(CarStateBase):
     ret.stockAeb = False
 
     # Update ACC radar status.
-    self.acc_type = 0  # TODO: this is ACC "basic" with nonzero min speed, support FtS (1) later
+    self.acc_type = ext_cp.vl["ACC_System"]["ACS_Typ_ACC"]
     ret.cruiseState.available = bool(pt_cp.vl["Motor_5"]["GRA_Hauptschalter"])
     ret.cruiseState.enabled = pt_cp.vl["Motor_2"]["GRA_Status"] in (1, 2)
     if self.CP.pcmCruise:
@@ -509,10 +509,12 @@ class MqbExtraSignals:
 class PqExtraSignals:
   # Additional signal and message lists for optional or bus-portable controllers
   fwd_radar_signals = [
+    ("ACS_Typ_ACC", "ACC_System"),               # Basic vs FtS (no SnG support on PQ)
     ("ACA_StaACC", "ACC_GRA_Anziege"),           # ACC drivetrain coordinator status
     ("ACA_V_Wunsch", "ACC_GRA_Anziege"),         # ACC set speed
   ]
   fwd_radar_checks = [
+    ("ACC_System", 50),                          # From J428 ACC radar control module
     ("ACC_GRA_Anziege", 25),                     # From J428 ACC radar control module
   ]
   bsm_radar_signals = [

selfdrive/car/volkswagen/interface.py

@@ -137,7 +137,6 @@ class CarInterface(CarInterfaceBase):
     elif candidate == CAR.SHARAN_MK2:
       ret.mass = 1639 + STD_CARGO_KG
       ret.wheelbase = 2.92
-      ret.minEnableSpeed = 30 * CV.KPH_TO_MS
       ret.minSteerSpeed = 50 * CV.KPH_TO_MS
       ret.steerActuatorDelay = 0.2
 

selfdrive/car/volkswagen/pqcan.py

@@ -66,6 +66,7 @@ def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control,
     "ACS_Sta_ADR": acc_control,
     "ACS_StSt_Info": acc_control != 1,
     "ACS_Typ_ACC": acc_type,
+    "ACS_Anhaltewunsch": acc_type == 1 and stopping,
     "ACS_Sollbeschl": accel if acc_control == 1 else 3.01,
     "ACS_zul_Regelabw": 0.2 if acc_control == 1 else 1.27,
     "ACS_max_AendGrad": 3.0 if acc_control == 1 else 5.08,