From 819fe37fe47629f09f3a4249ee96731c2ce7510f Mon Sep 17 00:00:00 2001 From: cuj Date: Tue, 15 Oct 2024 11:06:11 -0400 Subject: [PATCH] VW PQ: update LKAS light behavior, update driver allowance --- selfdrive/car/volkswagen/pqcan.py | 2 +- selfdrive/car/volkswagen/values.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py index 94674d7b8d3a0e..a68c89fa184788 100644 --- 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 index 76a71ebe702335..dba7ddf0be5507 100644 --- 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