VW MQB: Redundant brake pressed signals (#26401)

* VW MQB: Redundant brake pressed signals

* retry CI

* update refs

* update refs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 636ff5979fc19fe0a965fbceae214694c97c1e3d

selfdrive/car/volkswagen/carstate.py

@@ -62,7 +62,9 @@ class CarState(CarStateBase):
     ret.gas = pt_cp.vl["Motor_20"]["MO_Fahrpedalrohwert_01"] / 100.0
     ret.gasPressed = ret.gas > 0
     ret.brake = pt_cp.vl["ESP_05"]["ESP_Bremsdruck"] / 250.0  # FIXME: this is pressure in Bar, not sure what OP expects
-    ret.brakePressed = bool(pt_cp.vl["ESP_05"]["ESP_Fahrer_bremst"])
+    brake_pedal_pressed = bool(pt_cp.vl["Motor_14"]["MO_Fahrer_bremst"])
+    brake_pressure_detected = bool(pt_cp.vl["ESP_05"]["ESP_Fahrer_bremst"])
+    ret.brakePressed = brake_pedal_pressed or brake_pressure_detected
     ret.parkingBrake = bool(pt_cp.vl["Kombi_01"]["KBI_Handbremse"])  # FIXME: need to include an EPB check as well
 
     # Update gear and/or clutch position data.
@@ -268,8 +270,9 @@ class CarState(CarStateBase):
       ("Comfort_Signal_Right", "Blinkmodi_02"),  # Right turn signal including comfort blink interval
       ("AB_Gurtschloss_FA", "Airbag_02"),        # Seatbelt status, driver
       ("AB_Gurtschloss_BF", "Airbag_02"),        # Seatbelt status, passenger
-      ("ESP_Fahrer_bremst", "ESP_05"),           # Brake pedal pressed
-      ("ESP_Bremsdruck", "ESP_05"),              # Brake pressure applied
+      ("ESP_Fahrer_bremst", "ESP_05"),           # Driver applied brake pressure over threshold
+      ("MO_Fahrer_bremst", "Motor_14"),          # Brake pedal switch
+      ("ESP_Bremsdruck", "ESP_05"),              # Brake pressure
       ("MO_Fahrpedalrohwert_01", "Motor_20"),    # Accelerator pedal value
       ("EPS_Lenkmoment", "LH_EPS_03"),           # Absolute driver torque input
       ("EPS_VZ_Lenkmoment", "LH_EPS_03"),        # Driver torque input sign
@@ -304,6 +307,7 @@ class CarState(CarStateBase):
       ("ESP_02", 50),       # From J104 ABS/ESP controller
       ("GRA_ACC_01", 33),   # From J533 CAN gateway (via LIN from steering wheel controls)
       ("Gateway_72", 10),   # From J533 CAN gateway (aggregated data)
+      ("Motor_14", 10),     # From J623 Engine control module
       ("Airbag_02", 5),     # From J234 Airbag control module
       ("Kombi_01", 2),      # From J285 Instrument cluster
       ("Blinkmodi_02", 1),  # From J519 BCM (sent at 1Hz when no lights active, 50Hz when active)
@@ -318,7 +322,6 @@ class CarState(CarStateBase):
     elif CP.transmissionType == TransmissionType.manual:
       signals += [("MO_Kuppl_schalter", "Motor_14"),  # Clutch switch
                   ("BCM1_Rueckfahrlicht_Schalter", "Gateway_72")]  # Reverse light from BCM
-      checks.append(("Motor_14", 10))  # From J623 Engine control module
 
     if CP.networkLocation == NetworkLocation.fwdCamera:
       # Radars are here on CANBUS.pt

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-ff508a46616a1a3d66e8d1154d123ffd11025003
+08ca448a6dcfc1edc4f9fedb2ea94ad6b2b69aa2