VW PQ: update LKAS light behavior, update driver allowance

dkiiv · Oct 15, 2024 · 819fe37 · 819fe37
1 parent 9de51f9
commit 819fe37
Show file tree

Hide file tree

Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py
@@ -21,7 +21,7 @@ def create_lka_hud_control(packer, bus, ldw_stock_values, lat_active, steering_p
     ]}
 
   values.update({
-    "LDW_Lampe_gelb": 1 if lat_active and steering_pressed else 0,
+    "LDW_Lampe_gelb": 0 if lat_active and not steering_pressed else 1,
     "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,

diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
@@ -45,7 +45,7 @@ def __init__(self, CP):
     if CP.flags & VolkswagenFlags.PQ:
       self.LDW_STEP = 5                   # LDW_1 message frequency 20Hz
       self.ACC_HUD_STEP = 4               # ACC_GRA_Anzeige frequency 25Hz
-      self.STEER_DRIVER_ALLOWANCE = 80    # Driver intervention threshold 0.8 Nm
+      self.STEER_DRIVER_ALLOWANCE = 50    # Driver intervention threshold 0.5 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))
       self.BTN_STEP = 2