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VW PQ: Message corrections for ACC_GRA_Anzeige (#27572)

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* VW PQ: Correct message name for ACC_GRA_Anzeige

* bump opendbc
old-commit-hash: 9ecf3e7c327e616fcdc65db73606f838f55bdaa5
This commit is contained in:
Jason Young
2023-03-13 17:28:45 -04:00
committed by GitHub
parent c95ca5a1d5
commit bb553a2032
4 changed files with 8 additions and 8 deletions
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2
opendbc

Submodule opendbc updated: 510bfc0695...b7d4a6e271

10
selfdrive/car/volkswagen/carstate.py
View File

@@ -228,13 +228,13 @@ class CarState(CarStateBase):
ret.cruiseState.available = bool(pt_cp.vl["Motor_5"]["GRA_Hauptschalter"])
ret.cruiseState.enabled = pt_cp.vl["Motor_2"]["GRA_Status"] in (1, 2)
if self.CP.pcmCruise:
ret.accFaulted = ext_cp.vl["ACC_GRA_Anziege"]["ACA_StaACC"] in (6, 7)
ret.accFaulted = ext_cp.vl["ACC_GRA_Anzeige"]["ACA_StaACC"] in (6, 7)
else:
ret.accFaulted = pt_cp.vl["Motor_2"]["GRA_Status"] == 3
# Update ACC setpoint. When the setpoint reads as 255, the driver has not
# yet established an ACC setpoint, so treat it as zero.
ret.cruiseState.speed = ext_cp.vl["ACC_GRA_Anziege"]["ACA_V_Wunsch"] * CV.KPH_TO_MS
ret.cruiseState.speed = ext_cp.vl["ACC_GRA_Anzeige"]["ACA_V_Wunsch"] * CV.KPH_TO_MS
if ret.cruiseState.speed > 70: # 255 kph in m/s == no current setpoint
ret.cruiseState.speed = 0
@@ -516,12 +516,12 @@ class PqExtraSignals:
# Additional signal and message lists for optional or bus-portable controllers
fwd_radar_signals = [
("ACS_Typ_ACC", "ACC_System"), # Basic vs FtS (no SnG support on PQ)
("ACA_StaACC", "ACC_GRA_Anziege"), # ACC drivetrain coordinator status
("ACA_V_Wunsch", "ACC_GRA_Anziege"), # ACC set speed
("ACA_StaACC", "ACC_GRA_Anzeige"), # ACC drivetrain coordinator status
("ACA_V_Wunsch", "ACC_GRA_Anzeige"), # ACC set speed
]
fwd_radar_checks = [
("ACC_System", 50), # From J428 ACC radar control module
("ACC_GRA_Anziege", 25), # From J428 ACC radar control module
("ACC_GRA_Anzeige", 25), # From J428 ACC radar control module
]
bsm_radar_signals = [
("SWA_Infostufe_SWA_li", "SWA_1"), # Blind spot object info, left

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

@@ -88,4 +88,4 @@ def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance
# kmh_mph handling probably needed to resolve rounding errors in displayed setpoint
}
return packer.make_can_msg("ACC_GRA_Anziege", bus, values)
return packer.make_can_msg("ACC_GRA_Anzeige", bus, values)

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

@@ -36,7 +36,7 @@ class CarControllerParams:
if CP.carFingerprint in PQ_CARS:
self.LDW_STEP = 5 # LDW_1 message frequency 20Hz
self.ACC_HUD_STEP = 4 # ACC_GRA_Anziege frequency 25Hz
self.ACC_HUD_STEP = 4 # ACC_GRA_Anzeige frequency 25Hz
self.STEER_DRIVER_ALLOWANCE = 80 # Driver intervention threshold 0.8 Nm
self.STEER_DELTA_UP = 6 # Max HCA reached in 1.00s (STEER_MAX / (50Hz * 1.00))
self.STEER_DELTA_DOWN = 10 # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))