volkswagen: add Avoid EPS Lockout toggle (port from dragonpilot)

Adds a VW-brand toggle that scales steering torque down at low speeds
(vEgo 0.4 -> 80%, 3.5 -> 95%, >=4.0 -> 100% of STEER_MAX) to avoid EPS
lockout. Ported from dragonpilot (dp_vag_avoid_eps_lockout) following the
sunnypilot brand-params pattern: VagAvoidEPSLockout param -> VolkswagenFlagsSP
-> VW carcontroller. Default off; requires an onroad cycle to take effect.

opendbc_repo/opendbc/car/volkswagen/carcontroller.py

@@ -6,6 +6,7 @@ from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.volkswagen import mebcan, mlbcan, mqbcan, pqcan
 from opendbc.car.volkswagen.values import CanBus, CarControllerParams, VolkswagenFlags
+from opendbc.sunnypilot.car.volkswagen.values import VolkswagenFlagsSP
 
 VisualAlert = structs.CarControl.HUDControl.VisualAlert
 LongCtrlState = structs.CarControl.Actuators.LongControlState
@@ -40,6 +41,7 @@ class CarController(CarControllerBase):
     self.CAN = CanBus(CP)
     self.packer_pt = CANPacker(dbc_names[Bus.pt])
     self.aeb_available = not CP.flags & VolkswagenFlags.PQ
+    self.dp_avoid_eps_lockout = bool(self.CP_SP.flags & VolkswagenFlagsSP.AVOID_EPS_LOCKOUT)
 
     if CP.flags & VolkswagenFlags.MEB:
       self.meb_long_state = mebcan.MebLongStateMachine(self.CP, self.CCP)
@@ -105,7 +107,13 @@ class CarController(CarControllerBase):
 
       else:
         if CC.latActive:
-          new_torque = int(round(actuators.torque * self.CCP.STEER_MAX))
+          if self.dp_avoid_eps_lockout:
+            # Scale steering torque down at low speeds to avoid EPS lockout
+            torque_scale = np.interp(CS.out.vEgo, [0.4, 3.5, 4.0], [0.8, 0.95, 1.0])
+            scaled_steer_max = self.CCP.STEER_MAX * torque_scale
+            new_torque = int(round(actuators.torque * scaled_steer_max))
+          else:
+            new_torque = int(round(actuators.torque * self.CCP.STEER_MAX))
           apply_torque = apply_driver_steer_torque_limits(new_torque, self.apply_torque_last, CS.out.steeringTorque, self.CCP)
 
         apply_torque = self.hca_mitigation.update(apply_torque, self.apply_torque_last)

opendbc_repo/opendbc/sunnypilot/car/interfaces.py

@@ -21,6 +21,7 @@ from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
 from opendbc.sunnypilot.car.subaru.values_ext import SubaruFlagsSP, SubaruSafetyFlagsSP
 from opendbc.sunnypilot.car.tesla.values import MadsScreenButtonType, TeslaFlagsSP, TeslaSafetyFlagsSP
 from opendbc.sunnypilot.car.toyota.values import ToyotaFlagsSP
+from opendbc.sunnypilot.car.volkswagen.values import VolkswagenFlagsSP
 
 
 class LatControlInputs(NamedTuple):
@@ -90,6 +91,7 @@ def setup_interfaces(CI, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
   _initialize_radar_tracks(CP, CP_SP, can_recv, can_send)
   _initialize_stop_and_go(CP, CP_SP, params_dict)
   _initialize_toyota(CP, CP_SP, params_dict)
+  _initialize_volkswagen(CP, CP_SP, params_dict)
 
 
 def _initialize_custom_longitudinal_tuning(CI, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
@@ -166,3 +168,10 @@ def _initialize_toyota(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params
 
     if toyota_stop_and_go_hack and CP.openpilotLongitudinalControl:
       CP_SP.flags |= ToyotaFlagsSP.STOP_AND_GO_HACK.value
+
+
+def _initialize_volkswagen(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params_dict: dict[str, str]) -> None:
+  if CP.brand == 'volkswagen':
+    avoid_eps_lockout = int(params_dict.get("VagAvoidEPSLockout", 0)) == 1
+    if avoid_eps_lockout:
+      CP_SP.flags |= VolkswagenFlagsSP.AVOID_EPS_LOCKOUT.value

opendbc_repo/opendbc/sunnypilot/car/volkswagen/values.py

@@ -0,0 +1,11 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from enum import IntFlag
+
+
+class VolkswagenFlagsSP(IntFlag):
+  AVOID_EPS_LOCKOUT = 1

openpilot/common/params_keys.h

@@ -231,6 +231,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ToyotaEnforceStockLongitudinal", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ToyotaStopAndGoHack", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ToyotaAftermarketBsm", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"VagAvoidEPSLockout", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},

openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/volkswagen.py

@@ -5,11 +5,37 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.multilang import tr, tr_noop
+from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
+
+
+DESCRIPTIONS = {
+  'avoid_eps_lockout': tr_noop(
+    'Scale steering torque down at low speeds to avoid EPS lockout.'
+  )
+}
 
 
 class VolkswagenSettings(BrandSettings):
   def __init__(self):
     super().__init__()
 
+    self.avoid_eps_lockout = toggle_item_sp(
+      lambda: tr("Avoid EPS Lockout"),
+      description=lambda: tr(DESCRIPTIONS["avoid_eps_lockout"]),
+      initial_state=ui_state.params.get_bool("VagAvoidEPSLockout"),
+      callback=self._on_enable_avoid_eps_lockout,
+      enabled=lambda: not ui_state.engaged,
+    )
+
+    self.items = [
+      self.avoid_eps_lockout,
+    ]
+
+  def _on_enable_avoid_eps_lockout(self, state: bool):
+    ui_state.params.put_bool("VagAvoidEPSLockout", state, block=True)
+    ui_state.params.put_bool("OnroadCycleRequested", True)
+
   def update_settings(self):
     pass

openpilot/selfdrive/ui/translations/app_zh-CHS.po

@@ -2816,3 +2816,9 @@ msgstr[1] "到目前为止，您有 {} 段驾驶数据被用于训练数据集
 msgid "✓ SUBSCRIBED"
 msgstr "✓ 已订阅"
 
+msgid "Avoid EPS Lockout"
+msgstr "避免EPS锁定"
+
+msgid "Scale steering torque down at low speeds to avoid EPS lockout."
+msgstr "低速时按速度降低转向扭矩，避免EPS锁定。"
+

openpilot/sunnypilot/selfdrive/car/interfaces.py

@@ -138,4 +138,9 @@ def initialize_params(params) -> list[dict[str, Any]]:
     "ToyotaStopAndGoHack",
   ])
 
+  # volkswagen
+  keys.extend([
+    "VagAvoidEPSLockout",
+  ])
+
   return [{k: params.get(k, return_default=True)} for k in keys]