VAG PQ Steering Patch - init

common/params_keys.h

@@ -140,4 +140,5 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"dp_lon_no_gas_gating", PERSISTENT},
     {"dp_device_auto_shutdown_in", PERSISTENT},
     {"dp_ui_radar_tracks", PERSISTENT},
+    {"dp_vag_pq_steering_patch", PERSISTENT},
 };

opendbc_repo/opendbc/car/structs.py

@@ -22,4 +22,5 @@ CarParamsT = capnp.lib.capnp._StructModule
 class DPFlags:
   LateralALKA = 1
   ExtRadar = 2
+  VAGPQSteeringPatch = 2 ** 2
   pass

opendbc_repo/opendbc/car/volkswagen/carcontroller.py

@@ -24,6 +24,7 @@ class CarController(CarControllerBase):
     self.eps_timer_soft_disable_alert = False
     self.hca_frame_timer_running = 0
     self.hca_frame_same_torque = 0
+    self.dp_vag_pq_steering_patch = 7 if CP.flags & VolkswagenFlags.PQSteeringPatch else 5
 
   def update(self, CC, CS, now_nanos):
     actuators = CC.actuators
@@ -63,7 +64,7 @@ class CarController(CarControllerBase):
 
       self.eps_timer_soft_disable_alert = self.hca_frame_timer_running > self.CCP.STEER_TIME_ALERT / DT_CTRL
       self.apply_torque_last = apply_torque
-      can_sends.append(self.CCS.create_steering_control(self.packer_pt, CANBUS.pt, apply_torque, hca_enabled))
+      can_sends.append(self.CCS.create_steering_control(self.packer_pt, CANBUS.pt, apply_torque, hca_enabled, self.dp_vag_pq_steering_patch))
 
       if self.CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT:
         # Pacify VW Emergency Assist driver inactivity detection by changing its view of driver steering input torque

opendbc_repo/opendbc/car/volkswagen/interface.py

@@ -87,4 +87,7 @@ class CarInterface(CarInterfaceBase):
     ret.vEgoStopping = 0.5
     ret.autoResumeSng = ret.minEnableSpeed == -1
 
+    if ret.flags & VolkswagenFlags.PQ and dp_params & structs.DPFlags.VAGPQSteeringPatch:
+      ret.flags |= VolkswagenFlags.PQSteeringPatch.value
+
     return ret

opendbc_repo/opendbc/car/volkswagen/mqbcan.py

@@ -1,4 +1,4 @@
-def create_steering_control(packer, bus, apply_torque, lkas_enabled):
+def create_steering_control(packer, bus, apply_torque, lkas_enabled, dp_vag_pq_steering_patch):
   values = {
     "HCA_01_Status_HCA": 5 if lkas_enabled else 3,
     "HCA_01_LM_Offset": abs(apply_torque),

opendbc_repo/opendbc/car/volkswagen/pqcan.py

@@ -1,8 +1,8 @@
-def create_steering_control(packer, bus, apply_torque, lkas_enabled):
+def create_steering_control(packer, bus, apply_torque, lkas_enabled, dp_vag_pq_steering_patch = 5):
   values = {
     "LM_Offset": abs(apply_torque),
     "LM_OffSign": 1 if apply_torque < 0 else 0,
-    "HCA_Status": 5 if (lkas_enabled and apply_torque != 0) else 3,
+    "HCA_Status": dp_vag_pq_steering_patch if (lkas_enabled and apply_torque != 0) else 3,
     "Vib_Freq": 16,
   }
 

opendbc_repo/opendbc/car/volkswagen/values.py

@@ -144,6 +144,7 @@ class VolkswagenFlags(IntFlag):
   # Static flags
   PQ = 2
 
+  PQSteeringPatch = 2 ** 2
 
 @dataclass
 class VolkswagenMQBPlatformConfig(PlatformConfig):

selfdrive/car/card.py

@@ -102,6 +102,9 @@ class Car:
       if self.params.get_bool("dp_lat_alka"):
         dp_params |= structs.DPFlags.LateralALKA
 
+      if self.params.get_bool("dp_vag_pq_steering_patch"):
+        dp_params |= structs.DPFlags.VAGPQSteeringPatch
+
       self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, dp_params, cached_params)
       self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP)
       self.CP = self.CI.CP

selfdrive/ui/qt/offroad/dp_panel.cc

@@ -40,6 +40,11 @@ void DPPanel::add_vag_toggles() {
       QString::fromUtf8("🐉 ") + tr("VW / Audi / Skoda"),
       "",
     },
+    {
+      "dp_vag_pq_steering_patch",
+      tr("PQ Steering Patch"),
+      ""
+    },
   };
 
   QWidget *label = nullptr;

system/manager/manager.py

@@ -62,6 +62,7 @@ def manager_init() -> None:
     ("dp_lon_no_gas_gating", "0"),
     ("dp_device_auto_shutdown_in", "-5"),
     ("dp_ui_radar_tracks", "0"),
+    ("dp_vag_pq_steering_patch", "0"),
   ]
 
   if params.get_bool("RecordFrontLock"):