From f7d6b903b33a49c90cbede08730dde2ca9ab7743 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Wed, 5 Apr 2023 12:26:41 -0400 Subject: [PATCH] VW PQ: Miscellaneous longitudinal bug fixes (#27803) * VW PQ: Miscellaneous longitudinal fixes * touch up TODO comments --- selfdrive/car/volkswagen/pqcan.py | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py index 7c797dcee4..bac3ca121d 100644 --- a/selfdrive/car/volkswagen/pqcan.py +++ b/selfdrive/car/volkswagen/pqcan.py @@ -64,9 +64,10 @@ def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_cont values = { "ACS_Sta_ADR": acc_control, - "ACS_StSt_Info": acc_control != 1, + "ACS_StSt_Info": acc_enabled, "ACS_Typ_ACC": acc_type, "ACS_Anhaltewunsch": acc_type == 1 and stopping, + "ACS_FreigSollB": acc_enabled, "ACS_Sollbeschl": accel if acc_enabled else 3.01, "ACS_zul_Regelabw": 0.2 if acc_enabled else 1.27, "ACS_max_AendGrad": 3.0 if acc_enabled else 5.08, @@ -83,9 +84,9 @@ def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance "ACA_Zeitluecke": 2, "ACA_V_Wunsch": set_speed, "ACA_gemZeitl": lead_distance, - # TODO: ACA_ID_StaACC, ACA_AnzDisplay, ACA_kmh_mph, ACA_PrioDisp, ACA_Aend_Zeitluecke - # display/display-prio handling probably needed to stop confusing the instrument cluster - # kmh_mph handling probably needed to resolve rounding errors in displayed setpoint + "ACA_PrioDisp": 3, + # TODO: restore dynamic pop-to-foreground/highlight behavior with ACA_PrioDisp and ACA_AnzDisplay + # TODO: ACA_kmh_mph handling probably needed to resolve rounding errors in displayed setpoint } return packer.make_can_msg("ACC_GRA_Anzeige", bus, values)