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VW: update LKA HUD to be more logically accurate (#31895)

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* VW: update LKA HUD to be more logically accurate

* consistent case

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 9244f0f0d5490c1078ee3559b8edbcb39c9908d4
This commit is contained in:
dkiiv
2024-04-13 23:27:53 -04:00
committed by GitHub
parent bd91677d63
commit 70216f4975
3 changed files with 7 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
selfdrive/car/volkswagen/carcontroller.py
View File

@@ -92,7 +92,7 @@ class CarController(CarControllerBase):
hud_alert = 0
if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw):
hud_alert = self.CCP.LDW_MESSAGES["laneAssistTakeOver"]
can_sends.append(self.CCS.create_lka_hud_control(self.packer_pt, CANBUS.pt, CS.ldw_stock_values, CC.enabled,
can_sends.append(self.CCS.create_lka_hud_control(self.packer_pt, CANBUS.pt, CS.ldw_stock_values, CC.latActive,
CS.out.steeringPressed, hud_alert, hud_control))
if self.frame % self.CCP.ACC_HUD_STEP == 0 and self.CP.openpilotLongitudinalControl:

6
selfdrive/car/volkswagen/mqbcan.py
View File

@@ -28,7 +28,7 @@ def create_eps_update(packer, bus, eps_stock_values, ea_simulated_torque):
return packer.make_can_msg("LH_EPS_03", bus, values)
def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control):
def create_lka_hud_control(packer, bus, ldw_stock_values, lat_active, steering_pressed, hud_alert, hud_control):
values = {}
if len(ldw_stock_values):
values = {s: ldw_stock_values[s] for s in [
@@ -40,8 +40,8 @@ def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pres
]}
values.update({
"LDW_Status_LED_gelb": 1 if enabled and steering_pressed else 0,
"LDW_Status_LED_gruen": 1 if enabled and not steering_pressed else 0,
"LDW_Status_LED_gelb": 1 if lat_active and steering_pressed else 0,
"LDW_Status_LED_gruen": 1 if lat_active and not steering_pressed else 0,
"LDW_Lernmodus_links": 3 if hud_control.leftLaneDepart else 1 + hud_control.leftLaneVisible,
"LDW_Lernmodus_rechts": 3 if hud_control.rightLaneDepart else 1 + hud_control.rightLaneVisible,
"LDW_Texte": hud_alert,

6
selfdrive/car/volkswagen/pqcan.py
View File

@@ -9,7 +9,7 @@ def create_steering_control(packer, bus, apply_steer, lkas_enabled):
return packer.make_can_msg("HCA_1", bus, values)
def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control):
def create_lka_hud_control(packer, bus, ldw_stock_values, lat_active, steering_pressed, hud_alert, hud_control):
values = {}
if len(ldw_stock_values):
values = {s: ldw_stock_values[s] for s in [
@@ -21,8 +21,8 @@ def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pres
]}
values.update({
"LDW_Lampe_gelb": 1 if enabled and steering_pressed else 0,
"LDW_Lampe_gruen": 1 if enabled and not steering_pressed else 0,
"LDW_Lampe_gelb": 1 if lat_active and steering_pressed else 0,
"LDW_Lampe_gruen": 1 if lat_active and not steering_pressed else 0,
"LDW_Lernmodus_links": 3 if hud_control.leftLaneDepart else 1 + hud_control.leftLaneVisible,
"LDW_Lernmodus_rechts": 3 if hud_control.rightLaneDepart else 1 + hud_control.rightLaneVisible,
"LDW_Textbits": hud_alert,