From e99675400ebc558e2c43b499485bde61a827864d Mon Sep 17 00:00:00 2001 From: Rick Lan Date: Mon, 12 May 2025 15:13:25 +0800 Subject: [PATCH] VAG Avoid EPS Lockout - 2025/05/17 --- common/params_keys.h | 1 + opendbc_repo/opendbc/car/structs.py | 1 + opendbc_repo/opendbc/car/volkswagen/carcontroller.py | 2 +- opendbc_repo/opendbc/car/volkswagen/interface.py | 3 +++ opendbc_repo/opendbc/car/volkswagen/values.py | 8 ++++++-- selfdrive/car/card.py | 3 +++ selfdrive/controls/lib/latcontrol.py | 3 ++- selfdrive/ui/qt/offroad/dp_panel.cc | 5 +++++ system/manager/manager.py | 1 + 9 files changed, 23 insertions(+), 4 deletions(-) diff --git a/common/params_keys.h b/common/params_keys.h index 6b11bfea0..bdd3f5979 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -140,4 +140,5 @@ inline static std::unordered_map keys = { {"dp_lon_no_gas_gating", PERSISTENT}, {"dp_device_auto_shutdown_in", PERSISTENT}, {"dp_ui_radar_tracks", PERSISTENT}, + {"dp_vag_avoid_eps_lockout", PERSISTENT}, }; diff --git a/opendbc_repo/opendbc/car/structs.py b/opendbc_repo/opendbc/car/structs.py index 7389cec8b..b91050efe 100644 --- a/opendbc_repo/opendbc/car/structs.py +++ b/opendbc_repo/opendbc/car/structs.py @@ -22,4 +22,5 @@ CarParamsT = capnp.lib.capnp._StructModule class DPFlags: LateralALKA = 1 ExtRadar = 2 + VagAvoidEPSLockout = 2 ** 2 pass diff --git a/opendbc_repo/opendbc/car/volkswagen/carcontroller.py b/opendbc_repo/opendbc/car/volkswagen/carcontroller.py index e2a4fe86d..a43386a27 100644 --- a/opendbc_repo/opendbc/car/volkswagen/carcontroller.py +++ b/opendbc_repo/opendbc/car/volkswagen/carcontroller.py @@ -13,7 +13,7 @@ LongCtrlState = structs.CarControl.Actuators.LongControlState class CarController(CarControllerBase): def __init__(self, dbc_names, CP): super().__init__(dbc_names, CP) - self.CCP = CarControllerParams(CP) + self.CCP = CarControllerParams(CP, CP.flags & VolkswagenFlags.AVOID_EPS_LOCKOUT) self.CCS = pqcan if CP.flags & VolkswagenFlags.PQ else mqbcan self.packer_pt = CANPacker(dbc_names[Bus.pt]) self.ext_bus = CANBUS.pt if CP.networkLocation == structs.CarParams.NetworkLocation.fwdCamera else CANBUS.cam diff --git a/opendbc_repo/opendbc/car/volkswagen/interface.py b/opendbc_repo/opendbc/car/volkswagen/interface.py index 80c161953..c3be09ad9 100644 --- a/opendbc_repo/opendbc/car/volkswagen/interface.py +++ b/opendbc_repo/opendbc/car/volkswagen/interface.py @@ -87,4 +87,7 @@ class CarInterface(CarInterfaceBase): ret.vEgoStopping = 0.5 ret.autoResumeSng = ret.minEnableSpeed == -1 + if dp_params & structs.DPFlags.VagAvoidEPSLockout: + ret.flags |= VolkswagenFlags.AVOID_EPS_LOCKOUT.value + return ret diff --git a/opendbc_repo/opendbc/car/volkswagen/values.py b/opendbc_repo/opendbc/car/volkswagen/values.py index 750a99e1c..e98a1d85b 100644 --- a/opendbc_repo/opendbc/car/volkswagen/values.py +++ b/opendbc_repo/opendbc/car/volkswagen/values.py @@ -27,7 +27,8 @@ class CarControllerParams: # MQB vs PQ maximums are shared, but rate-of-change limited differently # based on safety requirements driven by lateral accel testing. - STEER_MAX = 300 # Max heading control assist torque 3.00 Nm + # rick - move to init so we can overwrite it with avoid eps lockout + # STEER_MAX = 300 # Max heading control assist torque 3.00 Nm STEER_DRIVER_MULTIPLIER = 3 # weight driver torque heavily STEER_DRIVER_FACTOR = 1 # from dbc @@ -40,8 +41,9 @@ class CarControllerParams: ACCEL_MAX = 2.0 # 2.0 m/s max acceleration ACCEL_MIN = -3.5 # 3.5 m/s max deceleration - def __init__(self, CP): + def __init__(self, CP, avoid_eps_lockout = False): can_define = CANDefine(DBC[CP.carFingerprint][Bus.pt]) + self.STEER_MAX = 300 if not avoid_eps_lockout else 288 if CP.flags & VolkswagenFlags.PQ: self.LDW_STEP = 5 # LDW_1 message frequency 20Hz @@ -144,6 +146,8 @@ class VolkswagenFlags(IntFlag): # Static flags PQ = 2 + AVOID_EPS_LOCKOUT = 2 ** 2 + @dataclass class VolkswagenMQBPlatformConfig(PlatformConfig): diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 067108352..cac89e24d 100755 --- a/selfdrive/car/card.py +++ b/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_avoid_eps_lockout"): + dp_params |= structs.DPFlags.VagAvoidEPSLockout + 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 diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py index dcf000343..f47f5a4c5 100644 --- a/selfdrive/controls/lib/latcontrol.py +++ b/selfdrive/controls/lib/latcontrol.py @@ -2,8 +2,9 @@ import numpy as np from abc import abstractmethod, ABC from openpilot.common.realtime import DT_CTRL +from openpilot.common.params import Params -MIN_LATERAL_CONTROL_SPEED = 0.3 # m/s +MIN_LATERAL_CONTROL_SPEED = 2.5 if Params().get_bool("dp_vag_avoid_eps_lockout") else 0.3 # m/s class LatControl(ABC): diff --git a/selfdrive/ui/qt/offroad/dp_panel.cc b/selfdrive/ui/qt/offroad/dp_panel.cc index 8868a6033..544fa9ba6 100644 --- a/selfdrive/ui/qt/offroad/dp_panel.cc +++ b/selfdrive/ui/qt/offroad/dp_panel.cc @@ -40,6 +40,11 @@ void DPPanel::add_vag_toggles() { QString::fromUtf8("🐉 ") + tr("VW / Audi / Skoda"), "", }, + { + "dp_vag_avoid_eps_lockout", + tr("Avoid EPS Lockout"), + "", + }, }; QWidget *label = nullptr; diff --git a/system/manager/manager.py b/system/manager/manager.py index da9ed9e2d..56b56e0c5 100755 --- a/system/manager/manager.py +++ b/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_avoid_eps_lockout", "0"), ] if params.get_bool("RecordFrontLock"):