IQ.Pilot Release Commit @ 98a2c61

artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/carcontroller.py

@@ -610,7 +610,8 @@ class CarController(CarControllerBase):
         leadDistance = hud_control.leadDistance if self.CCS is mlbcan else \
           (min(8, hud_control.leadDistance) if hud_control.leadDistance != 0 else 0)
         self.leadDistanceBars = min(3, hud_control.leadDistanceBars)
-        acc_hud_status = self.CCS.acc_hud_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive, CC.cruiseControl.override)
+        acc_hud_status = self.CCS.acc_hud_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive,
+                                                       CC.cruiseControl.override or CS.out.gasPressed)
         set_speed = hud_control.setSpeed * CV.MS_TO_KPH
         decel = dVisual(self.CCS, CS)
         hud_kwargs = {"hud_text": self._mlb_acc_hud_text(hud_control, set_speed),

artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/interface.py

@@ -347,4 +347,6 @@ class CarInterface(CarInterfaceBase):
   @staticmethod
   def _get_params_iq(stock_cp: structs.CarParams, ret: structs.IQCarParams, candidate, fingerprint: dict[int, dict[int, int]], car_fw: list[structs.CarParams.CarFw], alpha_long: bool, is_release_iq: bool, docs: bool) -> structs.IQCarParams:
     ret.longitudinalStoppingSpeedOverride = get_longitudinal_stopping_speed_override(candidate, stock_cp.flags)
+    override_excluded_platforms = VolkswagenFlags.MLB | VolkswagenFlags.MEB | VolkswagenFlags.MQB_EVO
+    ret.longActiveWithGasOverride = alpha_long and not bool(stock_cp.flags & override_excluded_platforms)
     return ret

artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/pqcan.py

@@ -112,7 +112,7 @@ def create_acc_accel_control(packer, bus, acc_type, accel, acc_control, stopping
     "ACS_Sollbeschl": accel if acc_enabled else 3.01,
     "ACS_zul_Regelabw": comfortBand if acc_enabled else 1.27,
     "ACS_max_AendGrad": jerkLimit if acc_enabled else 5.08,
-    "ACS_Schubabsch": 0,
+    "ACS_Schubabsch": 1 if acc_enabled and accel > 0.05 else 0,
     "ACS_MomEingriff": 0,
     "ACS_ADR_Schub": 0,
   }

artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/tests/test_pq_accel_control.py

@@ -0,0 +1,26 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos/
+"""
+
+import pytest
+
+from iqdbc.can import CANPacker
+from iqdbc.car.volkswagen import pqcan
+
+
+@pytest.mark.parametrize("accel, acc_control, expected", [
+  (-1.0, 1, False),
+  (0.0, 1, False),
+  (0.05, 1, False),
+  (0.051, 1, True),
+  (1.0, 1, True),
+  (1.0, 0, False),
+])
+def test_positive_acceleration_prevents_fuel_cutoff(accel, acc_control, expected):
+  packer = CANPacker("vw_pq")
+  messages = pqcan.create_acc_accel_control(
+    packer, 0, 1, accel, acc_control, False, False, False, 0.2, 0.3, False,
+  )
+  assert len(messages) == 1
+  _, data, _ = messages[0]
+  assert bool(data[1] & 0x80) is expected

artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/tests/test_volkswagen.py

@@ -100,6 +100,23 @@ class TestVolkswagenPlatformConfigs:
     assert bool(params.flags & VolkswagenFlagsIQ.IQ_PQ_ACC_FTS_EPB) is expected
     assert bool(params.safetyConfigs[-1].safetyParam & VolkswagenSafetyFlags.PQ_ACC_FTS_EPB) is expected
 
+  @pytest.mark.parametrize("candidate, alpha_long, expected", (
+    (CAR.VOLKSWAGEN_PASSAT_B7, False, False),
+    (CAR.VOLKSWAGEN_PASSAT_B7, True, True),
+    (CAR.VOLKSWAGEN_GOLF_MK7, False, False),
+    (CAR.VOLKSWAGEN_GOLF_MK7, True, True),
+    (CAR.AUDI_Q5_MK1, True, False),
+    (CAR.VOLKSWAGEN_ID4_MK1, True, False),
+    (CAR.VOLKSWAGEN_GOLF_MK8, True, False),
+  ))
+  def test_supported_vw_longitudinal_stays_active_during_gas_override(self, candidate, alpha_long, expected):
+    fingerprints = {bus: {} for bus in range(7)}
+    params = CarInterface.get_params(candidate, fingerprints, [], alpha_long=alpha_long, is_release=False, docs=False)
+    params_iq = CarInterface.get_params_iq(params, candidate, fingerprints, [], alpha_long=alpha_long, is_release_iq=False, docs=False)
+    assert params_iq.longActiveWithGasOverride is expected
+    if expected:
+      assert bool(params.safetyConfigs[-1].safetyParam & VolkswagenSafetyFlags.ALLOW_LONG_ACCEL_WITH_GAS_PRESSED) is alpha_long
+
 
 @pytest.mark.parametrize("button_type", (
   structs.CarState.ButtonEvent.Type.setCruise,

artifacts/package_sources/iqdbc/iqdbc/safety/tests/test_volkswagen_pq.py

@@ -250,6 +250,8 @@ class TestVolkswagenPqLongSafety(TestVolkswagenPqSafetyBase, common.Longitudinal
     self._rx(self._user_gas_msg(1))
     self.safety.set_controls_allowed(True)
     self.assertTrue(self._tx(self._accel_msg(0.5)))
+    self.assertTrue(self._tx(self._accel_msg(0.0)))
+    self.assertTrue(self._tx(self._accel_msg(-0.5)))
 
 
 class TestVolkswagenPqLowlineSafety(TestVolkswagenPqSafetyBase):

artifacts/package_sources/tinygrad/.iqpilot-revision

@@ -0,0 +1 @@
+95bfc521351d3acba7338605686155a9ee8b0009