From 3f0dac2d540c91eedc1d555e9e75bca73b07e9b2 Mon Sep 17 00:00:00 2001 From: actuallylemoncurd Date: Wed, 4 Dec 2024 20:54:19 -0500 Subject: [PATCH] VW PQ: bump panda, bugfix stopping for OEM+ ACC --- panda | 2 +- selfdrive/car/volkswagen/carcontroller.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/panda b/panda index 6e4f1af2b9448e..7e9a83008dac8b 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 6e4f1af2b9448e3dcc8f50d3750710f4a2ca65d5 +Subproject commit 7e9a83008dac8b590e9a6cd7e07ec2ac2b114387 diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index 68328cce10ecb7..aafba8ed319bdb 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -270,7 +270,7 @@ def update(self, CC, CS, now_nanos): # *** Below here is for OEM+ behavior modification of OEM ACC *** # # Modify Motor_2, Bremse_8, Bremse_11 if VolkswagenFlags.PQ and not self.CP.openpilotLongitudinalControl: - stopped = CS.out.vEgoRaw == 0 + stopped = CS.out.vEgoRaw == 0 and self.EPB_enable if CS.acc_sys_stock["COUNTER"] != self.acc_sys_counter_last: EPB_handler(self, CS.acc_sys_stock["ACS_Sta_ADR"], CS.acc_sys_stock["ACS_Sollbeschl"], CS.out.vEgoRaw)