VW PQ: update AWV controls again

* gate engagement to >15kph * toggle ANB_Teilbremsung_Freigabe based on speed
dkiiv · Nov 1, 2024 · 3752a20 · 3752a20
1 parent 860e377
commit 3752a20
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
@@ -161,7 +161,7 @@ def update(self, CC, CS, now_nanos):
         self.AWV_brake = clip(actuators.accel, self.CCP.ACCEL_MIN, 0)
       else:
         accel = clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0
-        self.AWV_enable = 0
+        self.AWV_enable = 0 if CS.out.vEgoRaw >= 6 else self.AWV_enable
         self.AWV_brake = 0
       self.AWV_halten = 1 if CS.out.vEgoRaw <= 2 and self.AWV_enable else 0
       self.long_deviation = 0  # TODO: make dynamic again

diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
@@ -278,7 +278,7 @@ class CAR(Platforms):
   )
   VOLKSWAGEN_JETTA_MK6 = VolkswagenPQPlatformConfig(
     [VWCarDocs("Volkswagen Jetta 2015-2018")],
-    VolkswagenCarSpecs(mass=1518, wheelbase=2.62),
+    VolkswagenCarSpecs(mass=1518, wheelbase=2.62, minEnableSpeed=16 * CV.KPH_TO_MS),
     chassis_codes={"5K", "AJ"},
     wmis={WMI.VOLKSWAGEN_MEXICO_CAR},
   )