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VW PQ: Miscellaneous longitudinal bug fixes (#27803) 

* VW PQ: Miscellaneous longitudinal fixes

* touch up TODO comments
This commit is contained in:
Jason Young 2023-04-05 12:26:41 -04:00 committed by GitHub
parent ad16b44528
commit f7d6b903b3
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1 changed files with 5 additions and 4 deletions
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9
selfdrive/car/volkswagen/pqcan.py
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@ -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)