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Macan #4

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Merged
dparring merged 2 commits into from
Apr 24, 2025
Merged

Macan #4

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fb9a034
fixing cc set point display
dparring Apr 24, 2025
fd388c0
fixing frequency of ACC_02 on macan
dparring Apr 24, 2025
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10 changes: 6 additions & 4 deletions selfdrive/car/volkswagen/carstate.py
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Original file line number Diff line number Diff line change
Expand Up @@ -174,11 +174,12 @@ def update(self, pt_cp, cam_cp, ext_cp, trans_type):
ret.cruiseState.standstill = self.CP.pcmCruise and self.esp_hold_confirmation

# 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.
# TODO: ugly hack while testing CC-only S4
if self.CP.pcmCruise and not self.CP.flags & VolkswagenFlags.MLB:
# radar sends a set-speed of ~90.69 m/s / 203.19 mph / 327.04 kph
# TODO: ugly hack while testing CC-only S4, also macan.
# EDIT: bumping the upper limit to 100 to match the stock functionality (100 max CC set point on USA Macan)
if self.CP.pcmCruise:
ret.cruiseState.speed = ext_cp.vl["ACC_02"]["ACC_Wunschgeschw_02"] * CV.KPH_TO_MS
if ret.cruiseState.speed > 90:
if ret.cruiseState.speed > 100:
ret.cruiseState.speed = 0

# Update button states for turn signals and ACC controls, capture all ACC button state/config for passthrough
Expand Down Expand Up @@ -380,6 +381,7 @@ def get_can_parser_mlb(CP):
("Blinkmodi_01", 0), # From J519 BCM (sent at 1Hz when no lights active, 50Hz when active)
("Kombi_03", 0), # From J285 instrument cluster (not present on older cars, 1Hz when present)
("Getriebe_03", 50), # TODO: what is the source of this signal? transmission ecu?
("ACC_02", 25), # Macan test: CC speed setting
]

# TODO: gear shift parsing
Expand Down
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