VW PQ: update AWV signal controls

* add AWV_Halten control * remove counter. may add back? * set parameter to 2, OEM parody
dkiiv · Nov 1, 2024 · 860e377 · 860e377
1 parent f5b9f70
commit 860e377
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Showing 2 changed files with 9 additions and 11 deletions.
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
@@ -33,7 +33,7 @@ def __init__(self, dbc_name, CP, VM):
     self.motor2_frame = 0
     self.AWV_brake = 0
     self.AWV_enable = 0
-    self.AWV_counter = 0
+    self.AWV_halten = 0
 
     self.deviationBP = [-0.13, -0.1, -0.05, 0.]     # accel        (m/s squared)
     self.deviationV = [0., 0.08, 0.14, 0.15]        # comfort-band (m/s squared)
@@ -155,22 +155,20 @@ def update(self, CC, CS, now_nanos):
       acc_control = self.CCS.acc_control_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive, CC.cruiseControl.override)
       stopping = actuators.longControlState == LongCtrlState.stopping
       starting = actuators.longControlState == LongCtrlState.pid and (CS.esp_hold_confirmation or CS.out.vEgo < self.CP.vEgoStopping)
-      if self.CCS == pqcan and CC.longActive and (clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) <= 0) and CS.out.vEgoRaw <= 6:
-        accel = clip(actuators.accel, self.CCP.ACCEL_MIN, 0) if self.AWV_counter <= 10 else 0
+      if self.CCS == pqcan and CC.longActive and actuators.accel <= 0 and CS.out.vEgoRaw <= 6:
+        accel = clip(actuators.accel, self.CCP.ACCEL_MIN, 0)
         self.AWV_enable = 1
-        self.AWV_brake = clip(actuators.accel, self.CCP.ACCEL_MIN, 0) if self.AWV_counter >= 11 else 0
-        self.AWV_counter += 1
+        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_brake = 0
-        self.AWV_counter = 0
-      self.AWV_counter = 11 if self.AWV_counter >= 11 else self.AWV_counter
+      self.AWV_halten = 1 if CS.out.vEgoRaw <= 2 and self.AWV_enable else 0
       self.long_deviation = 0  # TODO: make dynamic again
       self.long_ratelimit = 4  # TODO: make dynamic again
 
       if self.CCS == pqcan:
-        can_sends.append(self.CCS.create_awv_control(self.packer_pt, CANBUS.pt, self.AWV_brake, self.AWV_enable))
+        can_sends.append(self.CCS.create_awv_control(self.packer_pt, CANBUS.pt, self.AWV_brake, self.AWV_enable, self.AWV_halten))
       can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, CANBUS.pt, CS.acc_type, accel,
                                                          acc_control, stopping, starting, CS.esp_hold_confirmation,
                                                          self.long_deviation, self.long_ratelimit))

diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py
@@ -99,14 +99,14 @@ def create_acc_accel_control(packer, bus, acc_type, accel, acc_control, stopping
 
   return commands
 
-def create_awv_control(packer, bus, apply_brake, enabled):
+def create_awv_control(packer, bus, apply_brake, enabled, halten):
 
   values = {
-    "AWV_1_Parameter": 1 if enabled else 0,
+    "AWV_1_Parameter": 2 if enabled else 0,
     "AWV_1_Prefill": enabled,
     "ANB_Teilbremsung_Freigabe": enabled,
     "ANB_Ziel_Teilbrems_Verz_Anf": apply_brake if enabled else 0,
-    "AWV_Halten": 0,  # Hold at stop, configure later? Not needed?
+    "AWV_Halten": halten,  # Hold at stop, configure later? Not needed?
   }
 
   return packer.make_can_msg("AWV", bus, values)