VW PQ: refactor filter controls

* force filter motor2 and bremse8 while ACC is on
* set EPB on only while Sollbeschl <0 not <=0. try to fix 0m/s with EPB enabled fault

selfdrive/car/volkswagen/carcontroller.py

@@ -20,7 +20,7 @@ def limit_jerk(accel, prev_accel, max_jerk, dt):
   return prev_accel + delta_accel
 
 def EPB_handler(CS, self, ACS_Sta_ADR, ACS_Sollbeschl, vEgo, stopping):
-  if ACS_Sta_ADR == 1 and ACS_Sollbeschl <= 0 and vEgo <= (18 * CV.KPH_TO_MS):
+  if ACS_Sta_ADR == 1 and ACS_Sollbeschl < 0 and vEgo <= (18 * CV.KPH_TO_MS):
       if not self.EPB_enable:  # First frame of EPB entry
           self.EPB_counter = 0
           self.EPB_brake = 0
@@ -308,9 +308,9 @@ def update(self, CC, CS, now_nanos):
       if CS.acc_anz_stock["COUNTER"] != self.acc_anz_counter_last:
         can_sends.append(self.CCS.filter_ACC_Anzeige(self.packer_pt, CANBUS.pt, CS.acc_anz_stock, self.ACC_anz_blind))
       if self.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_active))
+        can_sends.append(self.CCS.filter_motor2(self.packer_pt, CANBUS.cam, CS.motor2_stock, active = CS.acc_sys_stock["ACS_Sta_ADR"] == 1))
       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_active))
+        can_sends.append(self.CCS.filter_bremse8(self.packer_pt, CANBUS.cam, CS.bremse8_stock, active = CS.acc_sys_stock["ACS_Sta_ADR"] == 1))
       if CS.bremse11_stock["COUNTER"] != self.bremse11_counter_last:
         can_sends.append(self.CCS.filter_bremse11(self.packer_pt, CANBUS.cam, CS.bremse11_stock, self.stopped))
       if CS.gra_stock_values["COUNTER"] != self.gra_acc_counter_last:

selfdrive/car/volkswagen/pqcan.py

@@ -128,17 +128,17 @@ def create_motor2_control(packer, bus, motor2_stock):
     #  Bremse_8 : BR8_StaBrSyst     1 --> 0
     #  Motor_2  : GRA_Status        1 --> 0
 
-def filter_motor2(packer, bus, motor2_car, epb_freigabe):  # bus 0 --> 2
+def filter_motor2(packer, bus, motor2_car, active):  # bus 0 --> 2
   values = motor2_car
-  if epb_freigabe:
+  if active:
     values.update({
       "GRA_Status": 1,
     })
   return packer.make_can_msg("Motor_2", bus, values)
 
-def filter_bremse8(packer, bus, bremse8_car, epb_freigabe):  # bus 0 --> 2
+def filter_bremse8(packer, bus, bremse8_car, active):  # bus 0 --> 2
   values = bremse8_car
-  if epb_freigabe:
+  if active:
     values.update({
       "BR8_Sta_ACC_Anf": 1,
       "BR8_Verz_EPB_akt": 0,