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@ -2,7 +2,7 @@ from cereal import car |
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from panda import Panda |
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from openpilot.selfdrive.car import get_safety_config |
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from openpilot.selfdrive.car.interfaces import CarInterfaceBase |
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from openpilot.selfdrive.car.volkswagen.values import PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags |
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from openpilot.selfdrive.car.volkswagen.values import CAR, CANBUS, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags |
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ButtonType = car.CarState.ButtonEvent.Type |
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EventName = car.CarEvent.EventName |
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@ -22,11 +22,11 @@ class CarInterface(CarInterfaceBase): |
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self.eps_timer_soft_disable_alert = False |
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@staticmethod |
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def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): |
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def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, docs): |
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ret.carName = "volkswagen" |
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ret.radarUnavailable = True |
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if candidate in PQ_CARS: |
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if ret.flags & VolkswagenFlags.PQ: |
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# Set global PQ35/PQ46/NMS parameters |
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagenPq)] |
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ret.enableBsm = 0x3BA in fingerprint[0] # SWA_1 |
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@ -72,7 +72,7 @@ class CarInterface(CarInterfaceBase): |
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# Global lateral tuning defaults, can be overridden per-vehicle |
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ret.steerLimitTimer = 0.4 |
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if candidate in PQ_CARS: |
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if ret.flags & VolkswagenFlags.PQ: |
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ret.steerActuatorDelay = 0.2 |
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CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) |
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else: |
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