From 1af35c3398904db46d535747746a496b6d5eca52 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Mon, 15 Mar 2021 18:09:09 -0400 Subject: [PATCH] VW MQB: Updated message and signal data, round 2 (#20298) * ACC_02 signal naming update * Add conversion factor now that DBC scaling has changed * bump opendbc * update refs Co-authored-by: Adeeb Shihadeh --- opendbc | 2 +- selfdrive/car/volkswagen/carstate.py | 4 ++-- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/opendbc b/opendbc index 72a2db74..7196dcec 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 72a2db749e4de7d355b94e702aac7acb43a861c2 +Subproject commit 7196dcec9cf94cdc53b0c59cf21d658afd6b31d2 diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index 8c80376e..0010c11e 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -108,7 +108,7 @@ class CarState(CarStateBase): # Update ACC setpoint. When the setpoint is zero or there's an error, the # radar sends a set-speed of ~90.69 m/s / 203mph. - ret.cruiseState.speed = pt_cp.vl["ACC_02"]['SetSpeed'] + ret.cruiseState.speed = pt_cp.vl["ACC_02"]['ACC_Wunschgeschw'] * CV.KPH_TO_MS if ret.cruiseState.speed > 90: ret.cruiseState.speed = 0 @@ -182,7 +182,7 @@ class CarState(CarStateBase): ("TSK_Fahrzeugmasse_02", "Motor_16", 0), # Estimated vehicle mass from drivetrain coordinator ("ACC_Status_ACC", "ACC_06", 0), # ACC engagement status ("ACC_Typ", "ACC_06", 0), # ACC type (follow to stop, stop&go) - ("SetSpeed", "ACC_02", 0), # ACC set speed + ("ACC_Wunschgeschw", "ACC_02", 0), # ACC set speed ("AWV2_Freigabe", "ACC_10", 0), # FCW brake jerk release ("ANB_Teilbremsung_Freigabe", "ACC_10", 0), # AEB partial braking release ("ANB_Zielbremsung_Freigabe", "ACC_10", 0), # AEB target braking release diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 25e1168b..7f90850c 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -e74d4020420151c92b545e45d09d67719b91c901 \ No newline at end of file +7ad3a680a6337494b9e79c404d27a99abf4fdf8a \ No newline at end of file