From ce48b036784dc817d141f9fbd2f887f044843b2c Mon Sep 17 00:00:00 2001
From: toyboxZ <6660197+toyboxZ@users.noreply.github.com>
Date: Tue, 16 Feb 2021 22:09:53 +0800
Subject: [PATCH] try fix volkswagen PQ message

---
 opendbc/vw_golf_mk4.dbc              | 41 ++++++++++++++--------------
 selfdrive/car/volkswagen/carstate.py |  7 +++++
 2 files changed, 27 insertions(+), 21 deletions(-)

diff --git a/opendbc/vw_golf_mk4.dbc b/opendbc/vw_golf_mk4.dbc
index b1dddeef2..e2b576b81 100644
--- a/opendbc/vw_golf_mk4.dbc
+++ b/opendbc/vw_golf_mk4.dbc
@@ -615,27 +615,26 @@ BO_ 1504 Klima_1: 8 XXX
  SG_ Fahrerwunsch_Zuheizer : 1|1@1+ (1,0) [0|0] "" XXX
  SG_ Drehzahlanhebung : 0|1@1+ (1,0) [0|0] "" XXX
 
-BO_ 906 GRA_Neu: 4 XXX
- SG_ GRA_Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ GRA_Hauptschalt : 8|1@1+ (1,0) [0|1] "" XXX
- SG_ GRA_Abbrechen : 9|1@1+ (1,0) [0|1] "" XXX
- SG_ GRA_Down_kurz : 10|1@1+ (1,0) [0|1] "" XXX
- SG_ GRA_Up_kurz : 11|1@1+ (1,0) [0|1] "" XXX
- SG_ GRA_Down_lang : 12|1@1+ (1,0) [0|1] "" XXX
- SG_ GRA_Up_lang : 13|1@1+ (1,0) [0|1] "" XXX
- SG_ GRA_Fehler_Bed : 14|1@1+ (1,0) [0|1] "" XXX
- SG_ GRA_Kodierinfo : 15|1@1+ (1,0) [0|1] "" XXX
- SG_ GRA_Neu_Setzen : 16|1@1+ (1,0) [0|1] "" XXX
- SG_ GRA_Recall : 17|1@1+ (1,0) [0|1] "" XXX
- SG_ GRA_Sender : 18|2@1+ (1,0) [0|3] "" XXX
- SG_ GRA_Neu_Zaehler : 20|4@1+ (1,0) [0|15] "" XXX
- SG_ GRA_Tip_Down : 24|1@1+ (1,0) [0|1] "" XXX
- SG_ GRA_Tip_Up : 25|1@1+ (1,0) [0|1] "" XXX
- SG_ GRA_Zeitluecke : 26|2@1+ (1,0) [0|3] "" XXX
- SG_ GRA_Sta_Limiter : 28|1@1+ (1,0) [0|1] "" XXX
- SG_ GRA_Typ_Hauptschalt : 29|1@1+ (1,0) [0|1] "" XXX
- SG_ GRA_Sportschalter : 30|1@1+ (1,0) [0|1] "" XXX
- SG_ GRA_Fehler_Tip : 31|1@1+ (1,0) [0|1] "" XXX
+BO_ 906 GRA_neu: 4 XXX
+ SG_ Tiptronik_Bedienteilfehler : 31|1@1+ (1,0) [0|0] "" XXX
+ SG_ Frei_GRA_neu_1_2 : 29|2@1+ (1,0) [0|0] "" XXX
+ SG_ Limiter_ein : 28|1@1+ (1,0) [0|0] "" XXX
+ SG_ Zeitlueckenverstellung : 26|2@1+ (1,0) [0|0] "" XXX
+ SG_ Tiptronic_Tip_Up__4_1_ : 25|1@1+ (1,0) [0|0] "" XXX
+ SG_ Tiptronic_Tip_Down__4_1_ : 24|1@1+ (1,0) [0|0] "" XXX
+ SG_ Zaehler__GRA_neu_ : 20|4@1+ (1,0) [0|15] "" XXX
+ SG_ Sender_Codierung__4_1_ : 18|2@1+ (1,0) [0|0] "" XXX
+ SG_ Wiederaufnahme : 17|1@1+ (1,0) [0|0] "" XXX
+ SG_ Setzen : 16|1@1+ (1,0) [0|0] "" XXX
+ SG_ GRA_Neu_frei_1 : 15|1@1+ (1,0) [0|0] "" XXX
+ SG_ Bedienteil_Fehler : 14|1@1+ (1,0) [0|0] "" XXX
+ SG_ Lang_Tip_up : 13|1@1+ (1,0) [0|0] "" XXX
+ SG_ Lang_Tip_down : 12|1@1+ (1,0) [0|0] "" XXX
+ SG_ Kurz_Tip_up : 11|1@1+ (1,0) [0|0] "" XXX
+ SG_ Kurz_Tip_down : 10|1@1+ (1,0) [0|0] "" XXX
+ SG_ Abbrechen : 9|1@1+ (1,0) [0|0] "" XXX
+ SG_ Hauptschalter : 8|1@1+ (1,0) [0|0] "" XXX
+ SG_ Checksumme_GRA_Neu : 0|8@1+ (1,0) [0|0] "" XXX
 
 BO_ 904 GRA: 3 XXX
  SG_ Checksumme_GRA_alt : 16|8@1+ (1,0) [0|0] "" XXX
diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
index f3bc649e5..17b69b376 100644
--- a/selfdrive/car/volkswagen/carstate.py
+++ b/selfdrive/car/volkswagen/carstate.py
@@ -264,6 +264,13 @@ class CarState(CarStateBase):
     # accept and respond to HCA_01 messages and has not encountered a fault.
     self.steeringFault = pt_cp.vl["Lenkhilfe_2"]['LH2_Sta_HCA'] not in [3, 5]
 
+    #TODO fill fix value for pq
+    self.ldw_lane_warning_left = False
+    self.ldw_lane_warning_right = False
+    self.ldw_side_dlc_tlc = False
+    self.ldw_dlc = 0.0
+    self.ldw_tlc = 0.0
+
     return ret
 
   @staticmethod