set freewheel and stop distance correctly

selfdrive/car/volkswagen/carcontroller.py

@@ -44,7 +44,7 @@ class CarController():
         accel = clip(actuators.accel, P.ACCEL_MIN, P.ACCEL_MAX) if enabled else 0
 
         # FIXME: this needs to become a proper state machine
-        acc_hold_request, acc_hold_release, acc_hold_type, stopping_distance = False, False, 0, 0
+        acc_hold_request, acc_hold_release, acc_hold_type, stopping_distance = False, False, 0, 20.46
         if actuators.longControlState == LongCtrlState.stopping and CS.out.vEgo < 0.2:
           self.acc_stopping = True
           acc_hold_request = True
@@ -61,7 +61,6 @@ class CarController():
           self.acc_starting &= CS.out.vEgo < 1.5
           acc_hold_release = self.acc_starting
           acc_hold_type = 4 if self.acc_starting and CS.out.vEgo < 0.1 else 0  # startup
-          stopping_distance = 20.46
         else:
           self.acc_stopping, self.acc_starting = False, False
 

selfdrive/car/volkswagen/volkswagencan.py

@@ -70,7 +70,7 @@ def create_mqb_acc_07_control(packer, bus, enabled, accel, acc_hold_request, acc
   values = {
     "ACC_Distance_to_Stop": stopping_distance,
     "ACC_Hold_Request": acc_hold_request,
-    "ACC_Freewheel_Type": 2,
+    "ACC_Freewheel_Type": 2 if enabled else 0,
     "ACC_Hold_Type": acc_hold_type,
     "ACC_Hold_Release": acc_hold_release,
     "ACC_Accel_Secondary": accel if enabled else 0,