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use another steering angle signal in general, lwi is pretty wrong

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infiniteCable2
2026-06-07 19:49:48 +02:00
parent 8a3ecb9e35
commit 08f0b652b6
2 changed files with 2 additions and 6 deletions
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5
opendbc/car/volkswagen/carstate.py
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@@ -269,10 +269,7 @@ class CarState(CarStateBase, MadsCarState):
ret.standstill = ret.vEgoRaw == 0
# Update EPS position and state info. For signed values, VW sends the sign in a separate signal.
# LWI_01, MEP_EPS_01 steering angle differs from real steering angle (dynamic steering)
ret.steeringAngleDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradwinkel"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradwinkel"])]
if self.CP.flags & VolkswagenFlags.FORD_CAR:
ret.steeringAngleDeg *= 1.1862 # ["LWI_01"]["LWI_Lenkradwinkel"] observed with factor 0.1 instead of 0.0843
ret.steeringAngleDeg = pt_cp.vl["LH_EPS_03"]["EPS_Berechneter_LW"] * (1, -1)[int(pt_cp.vl["LH_EPS_03"]["EPS_VZ_BLW"])]
ret.steeringRateDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradw_Geschw"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradw_Geschw"])]
ret.steeringTorque = pt_cp.vl["LH_EPS_03"]["EPS_Lenkmoment"] * (1, -1)[int(pt_cp.vl["LH_EPS_03"]["EPS_VZ_Lenkmoment"])]
ret.steeringPressed = abs(ret.steeringTorque) > self.CCP.STEER_DRIVER_ALLOWANCE

3
opendbc/car/volkswagen/values.py
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@@ -263,7 +263,6 @@ class VolkswagenFlags(IntFlag):
MQB_EVO = 2 ** 8
MQB_EVO_GEN2 = 2 ** 13
MLB = 2 ** 3
FORD_CAR = 2 ** 17
@dataclass
@@ -385,7 +384,7 @@ class CAR(Platforms):
VolkswagenCarSpecs(mass=2090, wheelbase=2.77),
chassis_codes={"EF"},
wmis={WMI.FORD_EUROPE_CAR},
flags=VolkswagenFlags.MEB_GEN2 | VolkswagenFlags.FORD_CAR,
flags=VolkswagenFlags.MEB_GEN2,
)
VOLKSWAGEN_ARTEON_MK1 = VolkswagenMQBPlatformConfig(
[