VW PQ: testing HCA5 behavior when using vibamp

dkiiv · Oct 8, 2024 · 90791f9 · 90791f9
1 parent 9de51f9
commit 90791f9
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py
@@ -2,8 +2,9 @@ def create_steering_control(packer, bus, apply_steer, lkas_enabled):
   values = {
     "LM_Offset": abs(apply_steer),
     "LM_OffSign": 1 if apply_steer < 0 else 0,
-    "HCA_Status": 7 if (lkas_enabled and apply_steer != 0) else 3,
+    "HCA_Status": 5 if (lkas_enabled and apply_steer != 0) else 3,
     "Vib_Freq": 16,
+    "Vib_Amp": 1 if apply_steer < 0 else 0,  # bring amplitude to 1nm while OffSign == 1 for testing behavior
   }
 
   return packer.make_can_msg("HCA_1", bus, values)