Updates to Volkswagen port (#1147)
* Remove unreachable Radar Fault alert code * Update max torquepull/1211/head
Jason Young
GitHub
parent
6ff881f789
commit
c2200baf60
2
panda
2
panda
|
|
@ -1 +1 @@
|
|||
Subproject commit 43687488518a870625ee907723d74549729d7241
|
||||
Subproject commit c7d0d5fc7b089094a2d42c21d25fbfb570d17677
|
||||
|
|
@ -61,25 +61,17 @@ class CarState(CarStateBase):
|
|||
self.displayMetricUnits = not pt_cp.vl["Einheiten_01"]["KBI_MFA_v_Einheit_02"]
|
||||
|
||||
# Update ACC radar status.
|
||||
accStatus = pt_cp.vl["ACC_06"]['ACC_Status_ACC']
|
||||
if accStatus == 1:
|
||||
# ACC okay but disabled
|
||||
self.accFault = False
|
||||
ret.cruiseState.available = False
|
||||
ret.cruiseState.enabled = False
|
||||
elif accStatus == 2:
|
||||
accStatus = pt_cp.vl["TSK_06"]['TSK_Status']
|
||||
if accStatus == 2:
|
||||
# ACC okay and enabled, but not currently engaged
|
||||
self.accFault = False
|
||||
ret.cruiseState.available = True
|
||||
ret.cruiseState.enabled = False
|
||||
elif accStatus in [3, 4, 5]:
|
||||
# ACC okay and enabled, currently engaged and regulating speed (3) or engaged with driver accelerating (4) or overrun (5)
|
||||
self.accFault = False
|
||||
ret.cruiseState.available = True
|
||||
ret.cruiseState.enabled = True
|
||||
else:
|
||||
# ACC fault of some sort. Seen statuses 6 or 7 for CAN comms disruptions, visibility issues, etc.
|
||||
self.accFault = True
|
||||
# ACC okay but disabled (1), or a radar visibility or other fault/disruption (6 or 7)
|
||||
ret.cruiseState.available = False
|
||||
ret.cruiseState.enabled = False
|
||||
|
||||
|
|
@ -156,6 +148,7 @@ class CarState(CarStateBase):
|
|||
("ESP_Tastung_passiv", "ESP_21", 0), # Stability control disabled
|
||||
("KBI_MFA_v_Einheit_02", "Einheiten_01", 0), # MPH vs KMH speed display
|
||||
("KBI_Handbremse", "Kombi_01", 0), # Manual handbrake applied
|
||||
("TSK_Status", "TSK_06", 0), # ACC engagement status from drivetrain coordinator
|
||||
("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)
|
||||
|
|
@ -182,6 +175,7 @@ class CarState(CarStateBase):
|
|||
("ESP_21", 50), # From J104 ABS/ESP controller
|
||||
("ACC_06", 50), # From J428 ACC radar control module
|
||||
("Motor_20", 50), # From J623 Engine control module
|
||||
("TSK_06", 50), # From J623 Engine control module
|
||||
("GRA_ACC_01", 33), # From J??? steering wheel control buttons
|
||||
("ACC_02", 17), # From J428 ACC radar control module
|
||||
("Getriebe_11", 20), # From J743 Auto transmission control module
|
||||
|
|
|
|||
|
|
@ -104,13 +104,9 @@ class CarInterface(CarInterfaceBase):
|
|||
|
||||
events = self.create_common_events(ret, extra_gears=[GEAR.eco, GEAR.sport])
|
||||
|
||||
# Vehicle operation safety checks and events
|
||||
# Vehicle health and operation safety checks
|
||||
if self.CS.parkingBrakeSet:
|
||||
events.append(create_event('parkBrake', [ET.NO_ENTRY, ET.USER_DISABLE]))
|
||||
|
||||
# Vehicle health safety checks and events
|
||||
if self.CS.accFault:
|
||||
events.append(create_event('radarFault', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
|
||||
if self.CS.steeringFault:
|
||||
events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
|
||||
|
||||
|
|
@ -140,7 +136,7 @@ class CarInterface(CarInterfaceBase):
|
|||
self.buttonStatesPrev = self.CS.buttonStates.copy()
|
||||
|
||||
self.CS.out = ret.as_reader()
|
||||
return self.CS.out
|
||||
return self.CS.out
|
||||
|
||||
def apply(self, c):
|
||||
can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
|
||||
|
|
|
|||
|
|
@ -9,10 +9,10 @@ class CarControllerParams:
|
|||
GRA_VBP_COUNT = 16 # Send VBP messages for ~0.5s (GRA_ACC_STEP * 16)
|
||||
|
||||
# Observed documented MQB limits: 3.00 Nm max, rate of change 5.00 Nm/sec.
|
||||
# Limiting both torque and rate-of-change based on real-world testing and
|
||||
# Comma's safety requirements for minimum time to lane departure.
|
||||
STEER_MAX = 250 # Max heading control assist torque 2.50 Nm
|
||||
STEER_DELTA_UP = 4 # Max HCA reached in 1.25s (STEER_MAX / (50Hz * 1.25))
|
||||
# Limiting rate-of-change based on real-world testing and Comma's safety
|
||||
# requirements for minimum time to lane departure.
|
||||
STEER_MAX = 300 # Max heading control assist torque 3.00 Nm
|
||||
STEER_DELTA_UP = 4 # Max HCA reached in 1.50s (STEER_MAX / (50Hz * 1.50))
|
||||
STEER_DELTA_DOWN = 10 # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))
|
||||
STEER_DRIVER_ALLOWANCE = 80
|
||||
STEER_DRIVER_MULTIPLIER = 3 # weight driver torque heavily
|
||||
|
|
|
|||
|
|
@ -1 +1 @@
|
|||
63d3bb517fdac3d953e67ca4a16f2c742388cdc5
|
||||
49d2241353626870070cf4dac71b5ac5b105910c
|
||||
|
|
|
|||
|
|
@ -18,11 +18,11 @@ segments = [
|
|||
("HONDA", "99c94dc769b5d96e|2019-08-03--14-19-59--2"), # HONDA.CIVIC
|
||||
("TOYOTA", "77611a1fac303767|2020-02-29--13-29-33--3"), # TOYOTA.COROLLA_TSS2
|
||||
("GM", "7cc2a8365b4dd8a9|2018-12-02--12-10-44--2"), # GM.ACADIA
|
||||
("CHRYSLER", "b6849f5cf2c926b1|2020-02-28--07-29-48--13"), # CHRYSLER.PACIFICA
|
||||
("CHRYSLER", "b6849f5cf2c926b1|2020-02-28--07-29-48--13"), # CHRYSLER.PACIFICA
|
||||
("HYUNDAI", "38bfd238edecbcd7|2018-08-29--22-02-15--4"), # HYUNDAI.SANTA_FE
|
||||
#("CHRYSLER", "b6e1317e1bfbefa6|2020-03-04--13-11-40"), # CHRYSLER.JEEP_CHEROKEE
|
||||
("SUBARU", "7873afaf022d36e2|2019-07-03--18-46-44--0"), # SUBARU.IMPREZA
|
||||
("VOLKSWAGEN", "b0c9d2329ad1606b|2020-02-19--16-29-36--7"), # VW.GOLF
|
||||
("VOLKSWAGEN", "76b83eb0245de90e|2020-03-05--19-16-05--3"), # VW.GOLF
|
||||
|
||||
# Enable when port is tested and dascamOnly is no longer set
|
||||
# ("NISSAN", "fbbfa6af821552b9|2020-03-03--08-09-43--0"), # NISSAN.XTRAIL
|
||||
|
|
|
|||
Loading…
Reference in New Issue