VW PQ: forgot motor2 doesnt have a counter..

dkiiv · Dec 4, 2024 · 54f41b7 · 54f41b7
1 parent 5d99c89
commit 54f41b7
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
@@ -47,7 +47,6 @@ def __init__(self, dbc_name, CP, VM):
 
     self.apply_steer_last = 0
     self.gra_acc_counter_last = None
-    self.motor2_counter_last = None
     self.bremse8_counter_last = None
     self.bremse11_counter_last = None
     self.acc_sys_counter_last = None
@@ -278,15 +277,16 @@ def update(self, CC, CS, now_nanos):
         can_sends.append(self.CCS.create_epb_control(self.packer_pt, CANBUS.br, self.EPB_brake, self.EPB_enable))
         can_sends.append(self.CCS.filter_epb1(self.packer_pt, CANBUS.cam, stopped))  # in custom module, filter the gateway fwd EPB msg
         can_sends.append(self.CCS.filter_ACC_System(self.packer_pt, CANBUS.pt, CS.acc_sys_stock, self.EPB_enable))
-      if CS.motor2_stock["COUNTER"] != self.motor2_counter_last:
+      if self.motor2_frame % 2 or CS.motor2_stock != getattr(self, 'motor2_last', CS.motor2_stock):  # 50hz / 20ms
         can_sends.append(self.CCS.filter_motor2(self.packer_pt, CANBUS.cam, CS.motor2_stock, self.EPB_enable))
       if CS.bremse8_stock["COUNTER"] != self.bremse8_counter_last:
         can_sends.append(self.CCS.filter_bremse8(self.packer_pt, CANBUS.cam, CS.bremse8_stock, self.EPB_enable))
       if CS.bremse11_stock["COUNTER"] != self.bremse11_counter_last:
         can_sends.append(self.CCS.filter_bremse11(self.packer_pt, CANBUS.cam, CS.bremse11_stock, stopped))
 
+      self.motor2_last = CS.motor2_stock
+      self.motor2_frame += 1
       self.acc_sys_counter_last = CS.acc_sys_stock["COUNTER"]
-      self.motor2_counter_last = CS.motor2_stock["COUNTER"]
       self.bremse8_counter_last = CS.bremse8_stock["COUNTER"]
       self.bremse11_counter_last = CS.bremse11_stock["COUNTER"]