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VW MQB: Cleanup HCA control message (#27757)

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* VW MQB: Cleanup HCA control message

* bump panda

* bump submodules

* bump panda/opendbc to comma master

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 3e960b0b32a7134c3bc86b14e6f4493a38f2ec61
This commit is contained in:
Jason Young
2023-04-16 00:02:33 -04:00
committed by GitHub
parent 3fc4992af2
commit 452a78868b
1 changed files with 6 additions and 9 deletions
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selfdrive/car/volkswagen/mqbcan.py
+6 -9
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@@ -1,14 +1,11 @@
def create_steering_control(packer, bus, apply_steer, lkas_enabled):
values = {
"SET_ME_0X3": 0x3,
"Assist_Torque": abs(apply_steer),
"Assist_Requested": lkas_enabled,
"Assist_VZ": 1 if apply_steer < 0 else 0,
"HCA_Available": 1,
"HCA_Standby": not lkas_enabled,
"HCA_Active": lkas_enabled,
"SET_ME_0XFE": 0xFE,
"SET_ME_0X07": 0x07,
"HCA_01_Status_HCA": 5 if lkas_enabled else 3,
"HCA_01_LM_Offset": abs(apply_steer),
"HCA_01_LM_OffSign": 1 if apply_steer < 0 else 0,
"HCA_01_Vib_Freq": 18,
"HCA_01_Sendestatus": 1 if lkas_enabled else 0,
"EA_ACC_Wunschgeschwindigkeit": 327.36,
}
return packer.make_can_msg("HCA_01", bus, values)