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2024-04-27 13:48:05 -05:00
parent 2fbe9dbea1
commit 931db76fc6
432 changed files with 12973 additions and 3300 deletions
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9
selfdrive/car/volkswagen/carcontroller.py
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@@ -4,18 +4,19 @@ from openpilot.common.numpy_fast import clip
from openpilot.common.conversions import Conversions as CV
from openpilot.common.realtime import DT_CTRL
from openpilot.selfdrive.car import apply_driver_steer_torque_limits
from openpilot.selfdrive.car.interfaces import CarControllerBase
from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan
from openpilot.selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams, VolkswagenFlags
from openpilot.selfdrive.car.volkswagen.values import CANBUS, CarControllerParams, VolkswagenFlags
VisualAlert = car.CarControl.HUDControl.VisualAlert
LongCtrlState = car.CarControl.Actuators.LongControlState
class CarController:
class CarController(CarControllerBase):
def __init__(self, dbc_name, CP, VM):
self.CP = CP
self.CCP = CarControllerParams(CP)
self.CCS = pqcan if CP.carFingerprint in PQ_CARS else mqbcan
self.CCS = pqcan if CP.flags & VolkswagenFlags.PQ else mqbcan
self.packer_pt = CANPacker(dbc_name)
self.apply_steer_last = 0
@@ -104,7 +105,7 @@ class CarController:
# FIXME: follow the recent displayed-speed updates, also use mph_kmh toggle to fix display rounding problem?
set_speed = hud_control.setSpeed * CV.MS_TO_KPH
can_sends.append(self.CCS.create_acc_hud_control(self.packer_pt, CANBUS.pt, acc_hud_status, set_speed,
lead_distance, CS.personality_profile))
lead_distance, hud_control.leadDistanceBars))
# **** Stock ACC Button Controls **************************************** #