VW PQ: Add HCA 5 / 7 mode flipping #58
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…eer on first hca7 frame
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dkiiv
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May 16, 2024
* initial hca_mode flipping commit * hot fix**ing** * bump hysteresis to 5 deg * increase hysteresis to 13 degree's * change HCA flipping logic. * logic change worked, dropping hysteresis limits to test * switch to NM torque blending * temporarily bump panda maxsteer to 400 * revert panda edit, refactor torque blend * refactor, again! * try ramping the 1NM drop * bugfix for pseudo STEER_MAX? * another hotfix * change rate limit in interpolation, removed apply_driver_steer_torque_limit * throw out >3nm. switch to HCA7 when requested torque >2nm * make HCA7 switching a wider band, and add some torque interpolation * change flipping logic * fix typo * bugfix: negative steering angle * switch to hca7 based on NM rate too * change from NM rate to steeringRate * revert back to no rate based hca7 switch * up deadzone to 13 * 13 up for HCA7 worked, dropping HCA5 down to 8 * fix bug, > not < ! * bugfix: hca7 lock and unlock logic. fixed for reals now! * change delta up ramp rate when HCA7. refactor HCA switch logic a bit * added dynamic HCA7 lock behavior, based on NM and angle * tweak values for HCA mode switching * switch apply_steer to new_steer in HCA mode switching * change HCA7 return to center ramp up rate to same as HCA5 * try more conditionals on ramp rate change for HCA7. drop requested steer on first hca7 frame * refactor new_steer conditional * adjust deadband high, and adjust lock logic * incorporate turn signal into logic * add deadbandLow back to hca7 lock
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