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VW: Long control message builder cleanup (#27802)

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* VW: Cleanup long control parameters

* use long_enabled instead

* bikeshed
old-commit-hash: 5666968d6d59835d2864ab17f98c540e1481dfae
This commit is contained in:
Jason Young
2023-04-04 14:44:33 -04:00
committed by GitHub
parent fd8e3d180d
commit 4503af28af
2 changed files with 11 additions and 11 deletions
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selfdrive/car/volkswagen/mqbcan.py
+7 -7
View File
@@ -56,18 +56,18 @@ def acc_hud_status_value(main_switch_on, acc_faulted, long_active):
return acc_control_value(main_switch_on, acc_faulted, long_active)
def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control, stopping, starting, esp_hold):
def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_control, stopping, starting, esp_hold):
commands = []
acc_06_values = {
"ACC_Typ": acc_type,
"ACC_Status_ACC": acc_control,
"ACC_StartStopp_Info": enabled,
"ACC_Sollbeschleunigung_02": accel if enabled else 3.01,
"ACC_StartStopp_Info": acc_enabled,
"ACC_Sollbeschleunigung_02": accel if acc_enabled else 3.01,
"ACC_zul_Regelabw_unten": 0.2, # TODO: dynamic adjustment of comfort-band
"ACC_zul_Regelabw_oben": 0.2, # TODO: dynamic adjustment of comfort-band
"ACC_neg_Sollbeschl_Grad_02": 4.0 if enabled else 0, # TODO: dynamic adjustment of jerk limits
"ACC_pos_Sollbeschl_Grad_02": 4.0 if enabled else 0, # TODO: dynamic adjustment of jerk limits
"ACC_neg_Sollbeschl_Grad_02": 4.0 if acc_enabled else 0, # TODO: dynamic adjustment of jerk limits
"ACC_pos_Sollbeschl_Grad_02": 4.0 if acc_enabled else 0, # TODO: dynamic adjustment of jerk limits
"ACC_Anfahren": starting,
"ACC_Anhalten": stopping,
}
@@ -84,9 +84,9 @@ def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control,
acc_07_values = {
"ACC_Anhalteweg": 0.75 if stopping else 20.46, # Distance to stop (stopping coordinator handles terminal roll-out)
"ACC_Freilauf_Info": 2 if enabled else 0,
"ACC_Freilauf_Info": 2 if acc_enabled else 0,
"ACC_Folgebeschl": 3.02, # Not using secondary controller accel unless and until we understand its impact
"ACC_Sollbeschleunigung_02": accel if enabled else 3.01,
"ACC_Sollbeschleunigung_02": accel if acc_enabled else 3.01,
"ACC_Anforderung_HMS": acc_hold_type,
"ACC_Anfahren": starting,
"ACC_Anhalten": stopping,
selfdrive/car/volkswagen/pqcan.py
+4 -4
View File
@@ -59,7 +59,7 @@ def acc_hud_status_value(main_switch_on, acc_faulted, long_active):
return hud_status
def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control, stopping, starting, esp_hold):
def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_control, stopping, starting, esp_hold):
commands = []
values = {
@@ -67,9 +67,9 @@ def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control,
"ACS_StSt_Info": acc_control != 1,
"ACS_Typ_ACC": acc_type,
"ACS_Anhaltewunsch": acc_type == 1 and stopping,
"ACS_Sollbeschl": accel if acc_control == 1 else 3.01,
"ACS_zul_Regelabw": 0.2 if acc_control == 1 else 1.27,
"ACS_max_AendGrad": 3.0 if acc_control == 1 else 5.08,
"ACS_Sollbeschl": accel if acc_enabled else 3.01,
"ACS_zul_Regelabw": 0.2 if acc_enabled else 1.27,
"ACS_max_AendGrad": 3.0 if acc_enabled else 5.08,
}
commands.append(packer.make_can_msg("ACC_System", bus, values))