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elkoled
2026-06-06 17:44:58 -07:00
parent de35d799f4
commit 3241b06d16
1 changed files with 4 additions and 1 deletions
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5
opendbc/car/volkswagen/carcontroller.py
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@@ -57,6 +57,7 @@ class CarController(CarControllerBase):
self.lead_distance_bars_last = None
self.distance_bar_frame = 0
self.gra_acc_counter_last = None
self.klr_counter_last = None
self.hca_mitigation = HCAMitigation(self.CCP)
def update(self, CC, CS, now_nanos):
@@ -126,10 +127,12 @@ class CarController(CarControllerBase):
# send capacitive steering wheel hands-on message to keep ACC resume active and control Emergency Assist
# MEB Emergency Assist brake jerks after 30s of continued hands-off time.
# We send the stock wheeltouch message to start the stock DM timer when openpilot latches the critical driver monitoring alert
if self.frame % self.CCP.KLR_01_STEP == 0:
# Synced with stock counter
if self.frame % self.CCP.KLR_01_STEP == 0 and CS.klr_stock_values["COUNTER"] != self.klr_counter_last:
lat_active = CC.latActive and not CC.driverMonitoringEscalation
can_sends.append(mebcan.create_capacitive_wheel_touch(self.packer_pt, self.CAN.cam, lat_active, CS.klr_stock_values))
can_sends.append(mebcan.create_capacitive_wheel_touch(self.packer_pt, self.CAN.pt, lat_active, CS.klr_stock_values))
self.klr_counter_last = CS.klr_stock_values["COUNTER"]
# **** Acceleration Controls ******************************************** #