From fc761c84945d16bd4d14b28fdacd2ee62ba45e1e Mon Sep 17 00:00:00 2001 From: Samuel Keeley Date: Tue, 13 Apr 2021 13:48:40 -0500 Subject: [PATCH] update behavior --- selfdrive/car/volkswagen/volkswagencan.py | 13 +++++++++++-- 1 file changed, 11 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/volkswagen/volkswagencan.py b/selfdrive/car/volkswagen/volkswagencan.py index 67d87772a6..494bb43ad8 100644 --- a/selfdrive/car/volkswagen/volkswagencan.py +++ b/selfdrive/car/volkswagen/volkswagencan.py @@ -18,10 +18,19 @@ def create_mqb_steering_control(packer, bus, apply_steer, idx, lkas_enabled): def create_mqb_hud_control(packer, bus, enabled, steering_pressed, hud_alert, left_lane_visible, right_lane_visible, ldw_lane_warning_left, ldw_lane_warning_right, ldw_side_dlc_tlc, ldw_dlc, ldw_tlc, standstill, left_lane_depart, right_lane_depart): + # Lane color reference: + # 0 - nothing (LKAS disabled) + # 1 - gray (LKAS enabled, no lane line detected) + # 2 - green on VW, green or white on Audi depedning on year or virtual cockpit (LKAS enabled, lane detected) + # 3 - green with arrow on VW, red on Audi (LKAS enabled, lane departure detected) + + # not using standstill right now + if enabled: - left_lane_hud = 3 if left_lane_visible and not standstill else 2 - right_lane_hud = 3 if right_lane_visible and not standstill else 2 + left_lane_hud = 2 if left_lane_visible else 1 + right_lane_hud = 2 if right_lane_visible else 1 else: + # On stock, this would be 0, but on stock you'd never go from 0 to 3. Currently OP will still detect lane departures so always be at least 1. left_lane_hud = 1 right_lane_hud = 1