mawei/dragonpilot
1
0
Fork 0
mirror of https://github.com/dragonpilot/dragonpilot.git synced 2026-06-25 16:02:14 +08:00
Code Issues Packages Projects Releases Wiki Activity

VW: simplify cruiseState (#32003)

Browse Source 
* simplify

* simplify

* jyoung suggestion

* acc ready
This commit is contained in:
Shane Smiskol
2024-03-25 19:23:56 -07:00
committed by GitHub
parent 5fcb54f713
commit b88be79814
1 changed files with 7 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/volkswagen/carstate.py
+7 -13
View File
@@ -114,21 +114,15 @@ class CarState(CarStateBase):
# Update ACC radar status.
self.acc_type = ext_cp.vl["ACC_06"]["ACC_Typ"]
if pt_cp.vl["TSK_06"]["TSK_Status"] == 2:
# ACC okay and enabled, but not currently engaged
ret.cruiseState.available = True
ret.cruiseState.enabled = False
elif pt_cp.vl["TSK_06"]["TSK_Status"] in (3, 4, 5):
# ACC okay and enabled, currently regulating speed (3) or driver accel override (4) or brake only (5)
ret.cruiseState.available = True
ret.cruiseState.enabled = True
else:
# ACC okay but disabled (1), or a radar visibility or other fault/disruption (6 or 7)
ret.cruiseState.available = False
ret.cruiseState.enabled = False
# ACC okay but disabled (1), ACC ready (2), a radar visibility or other fault/disruption (6 or 7)
# currently regulating speed (3), driver accel override (4), brake only (5)
ret.cruiseState.available = pt_cp.vl["TSK_06"]["TSK_Status"] in (2, 3, 4, 5)
ret.cruiseState.enabled = pt_cp.vl["TSK_06"]["TSK_Status"] in (3, 4, 5)
ret.accFaulted = pt_cp.vl["TSK_06"]["TSK_Status"] in (6, 7)
self.esp_hold_confirmation = bool(pt_cp.vl["ESP_21"]["ESP_Haltebestaetigung"])
ret.cruiseState.standstill = self.CP.pcmCruise and self.esp_hold_confirmation
ret.accFaulted = pt_cp.vl["TSK_06"]["TSK_Status"] in (6, 7)
# Update ACC setpoint. When the setpoint is zero or there's an error, the
# radar sends a set-speed of ~90.69 m/s / 203mph.