VW PQ: refining ECD

* restore cruiseState.available * improve cruiseState.enabled * bump DBC for comma pedal prep
dkiiv · Nov 3, 2024 · c67cb4d · c67cb4d
1 parent c21c4e7
commit c67cb4d
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Showing 3 changed files with 5 additions and 3 deletions.
diff --git a/opendbc_repo b/opendbc_repo
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
@@ -163,6 +163,7 @@ def update(self, CC, CS, now_nanos):
           self.EPB_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
+        acc_control = 0 if self.EPB_enable and CC.longActive else acc_control
         self.EPB_enable = 0
         self.EPB_brake = 0
       self.long_deviation = 0  # TODO: make dynamic again

diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
@@ -240,8 +240,8 @@ def update_pq(self, pt_cp, cam_cp, ext_cp, trans_type):
 
     # Update ACC radar status.
     self.acc_type = ext_cp.vl["ACC_System"]["ACS_Typ_ACC"]
-    ret.cruiseState.available = True  # TODO: fix this, ECD cancels ECM cruise but we still want to be engaged!
-    ret.cruiseState.enabled = pt_cp.vl["Motor_2"]["GRA_Status"] in (1, 2)
+    ret.cruiseState.available = bool(pt_cp.vl["Motor_5"]["GRA_Hauptschalter"])
+    ret.cruiseState.enabled = pt_cp.vl["Motor_2"]["GRA_Status"] in (1, 2) or bool(pt_cp.vl["Bremse_8"]["BR8_Verz_EPB_akt"])
     if self.CP.pcmCruise:
       ret.accFaulted = ext_cp.vl["ACC_GRA_Anzeige"]["ACA_StaACC"] in (6, 7)
     else:
@@ -354,6 +354,7 @@ def get_can_parser_pq(CP):
       ("Motor_3", 100),     # From J623 Engine control module
       ("Airbag_1", 50),     # From J234 Airbag control module
       ("Bremse_5", 50),     # From J104 ABS/ESP controller
+      ("Bremse_8", 50),     # From J104 ABS/ESP controller
       ("GRA_Neu", 50),      # From J??? steering wheel control buttons
       ("Kombi_1", 50),      # From J285 Instrument cluster
       ("Motor_2", 50),      # From J623 Engine control module