mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-08-21 00:03:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

VW PQ: Fix cruise fault detection, cleanup (#26588)

Browse Source 
old-commit-hash: 82158c8378a34ab0d82566d1149e1769e877c4ac
This commit is contained in:
Jason Young
2022-11-28 17:55:57 -05:00
committed by GitHub
parent 6a7a660aaf
commit 2edfdf3843
1 changed files with 16 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/volkswagen/carstate.py
+16 -15
View File
@@ -222,10 +222,11 @@ class CarState(CarStateBase):
# Update ACC radar status. # Update ACC radar status.
self.acc_type = 0 # TODO: this is ACC "basic" with nonzero min speed, support FtS (1) later self.acc_type = 0 # TODO: this is ACC "basic" with nonzero min speed, support FtS (1) later
ret.cruiseState.available = bool(pt_cp.vl["Motor_5"]["GRA_Hauptschalter"]) ret.cruiseState.available = bool(pt_cp.vl["Motor_5"]["GRA_Hauptschalter"])
ret.cruiseState.enabled = bool(pt_cp.vl["Motor_2"]["GRA_Status"]) ret.cruiseState.enabled = pt_cp.vl["Motor_2"]["GRA_Status"] in (1, 2)
if self.CP.pcmCruise: if self.CP.pcmCruise:
ret.accFaulted = ext_cp.vl["ACC_GRA_Anziege"]["ACA_StaACC"] in (6, 7) ret.accFaulted = ext_cp.vl["ACC_GRA_Anziege"]["ACA_StaACC"] in (6, 7)
# TODO: update opendbc with PQ TSK state for OP long accFaulted else:
ret.accFaulted = pt_cp.vl["Motor_2"]["GRA_Status"] == 3
# Update ACC setpoint. When the setpoint reads as 255, the driver has not # Update ACC setpoint. When the setpoint reads as 255, the driver has not
# yet established an ACC setpoint, so treat it as zero. # yet established an ACC setpoint, so treat it as zero.
@@ -485,15 +486,15 @@ class MqbExtraSignals:
# Additional signal and message lists for optional or bus-portable controllers # Additional signal and message lists for optional or bus-portable controllers
fwd_radar_signals = [ fwd_radar_signals = [
("ACC_Wunschgeschw_02", "ACC_02"), # ACC set speed ("ACC_Wunschgeschw_02", "ACC_02"), # ACC set speed
("ACC_Typ", "ACC_06"), # Basic vs F2S vs SNG ("ACC_Typ", "ACC_06"), # Basic vs FtS vs SnG
("AWV2_Freigabe", "ACC_10"), # FCW brake jerk release ("AWV2_Freigabe", "ACC_10"), # FCW brake jerk release
("ANB_Teilbremsung_Freigabe", "ACC_10"), # AEB partial braking release ("ANB_Teilbremsung_Freigabe", "ACC_10"), # AEB partial braking release
("ANB_Zielbremsung_Freigabe", "ACC_10"), # AEB target braking release ("ANB_Zielbremsung_Freigabe", "ACC_10"), # AEB target braking release
] ]
fwd_radar_checks = [ fwd_radar_checks = [
("ACC_06", 50), # From J428 ACC radar control module ("ACC_06", 50), # From J428 ACC radar control module
("ACC_10", 50), # From J428 ACC radar control module ("ACC_10", 50), # From J428 ACC radar control module
("ACC_02", 17), # From J428 ACC radar control module ("ACC_02", 17), # From J428 ACC radar control module
] ]
bsm_radar_signals = [ bsm_radar_signals = [
("SWA_Infostufe_SWA_li", "SWA_01"), # Blind spot object info, left ("SWA_Infostufe_SWA_li", "SWA_01"), # Blind spot object info, left
@@ -502,24 +503,24 @@ class MqbExtraSignals:
("SWA_Warnung_SWA_re", "SWA_01"), # Blind spot object warning, right ("SWA_Warnung_SWA_re", "SWA_01"), # Blind spot object warning, right
] ]
bsm_radar_checks = [ bsm_radar_checks = [
("SWA_01", 20), # From J1086 Lane Change Assist ("SWA_01", 20), # From J1086 Lane Change Assist
] ]
class PqExtraSignals: class PqExtraSignals:
# Additional signal and message lists for optional or bus-portable controllers # Additional signal and message lists for optional or bus-portable controllers
fwd_radar_signals = [ fwd_radar_signals = [
("ACA_StaACC", "ACC_GRA_Anziege", 0), # ACC drivetrain coordinator status ("ACA_StaACC", "ACC_GRA_Anziege"), # ACC drivetrain coordinator status
("ACA_V_Wunsch", "ACC_GRA_Anziege", 0), # ACC set speed ("ACA_V_Wunsch", "ACC_GRA_Anziege"), # ACC set speed
] ]
fwd_radar_checks = [ fwd_radar_checks = [
("ACC_GRA_Anziege", 25), # From J428 ACC radar control module ("ACC_GRA_Anziege", 25), # From J428 ACC radar control module
] ]
bsm_radar_signals = [ bsm_radar_signals = [
("SWA_Infostufe_SWA_li", "SWA_1", 0), # Blind spot object info, left ("SWA_Infostufe_SWA_li", "SWA_1"), # Blind spot object info, left
("SWA_Warnung_SWA_li", "SWA_1", 0), # Blind spot object warning, left ("SWA_Warnung_SWA_li", "SWA_1"), # Blind spot object warning, left
("SWA_Infostufe_SWA_re", "SWA_1", 0), # Blind spot object info, right ("SWA_Infostufe_SWA_re", "SWA_1"), # Blind spot object info, right
("SWA_Warnung_SWA_re", "SWA_1", 0), # Blind spot object warning, right ("SWA_Warnung_SWA_re", "SWA_1"), # Blind spot object warning, right
] ]
bsm_radar_checks = [ bsm_radar_checks = [
("SWA_1", 20), # From J1086 Lane Change Assist ("SWA_1", 20), # From J1086 Lane Change Assist
] ]