IQ.Pilot Release Commit @ f58fc1d

artifacts/iqpilot_navd_private/manifest.json

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   }
 }

artifacts/iqpilot_navd_private/manifest.json.sig

@@ -1 +1 @@
-j1FfVkm/xulHA9W24Ipwnx3XKOZeoIp5yl+/iPAyKihtRp+NWavwvTQpdBgLKrprhskq4ihlY0g7ZPE2gjkJDg==
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artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/carcontroller.py

@@ -188,6 +188,11 @@ class MQBStandstillManager:
     self.prev_accel = accel
     return long_active, accel, stopping, starting, esp_starting_override, esp_stopping_override
 
+
+def accel_during_driver_override(accel: float, gas_pressed: bool, keep_long_active: bool) -> float:
+  return 0.0 if gas_pressed and keep_long_active else accel
+
+
 class CarController(CarControllerBase):
   def __init__(self, dbc_names, CP, CP_IQ):
     from iqpilot.system.proprietary_runtime._verified_import import import_verified_module
@@ -458,11 +463,8 @@ class CarController(CarControllerBase):
 
     if self.CP.flags & (VolkswagenFlags.MEB | VolkswagenFlags.MQB_EVO):
       if self.frame % 2 == 0:
-        blinker_active = CS.left_blinker_active or CS.right_blinker_active
-        left_blinker = CC.leftBlinker if not blinker_active else False
-        right_blinker = CC.rightBlinker if not blinker_active else False
         can_sends.append(self.CCS.create_blinker_control(self.packer_pt, self.CAN.pt, CS.ea_hud_stock_values, CS.ea_control_stock_values,
-                                                         left_blinker, right_blinker, self.hide_ea_error))
+                                                         CC.leftBlinker, CC.rightBlinker, self.hide_ea_error))
 
     if self.CP.openpilotLongitudinalControl and self.CCS in (mqbcan, mlbcan) and not self.acc_counter_seeded and CS.acc_stock_counters:
       seed_msgs = ("ACC_01", "ACC_02") if self.CCS is mlbcan else ("ACC_02", "ACC_06", "ACC_07", "ACC_10")
@@ -504,7 +506,7 @@ class CarController(CarControllerBase):
         stopping = actuators.longControlState == LongCtrlState.stopping
         starting = actuators.longControlState == LongCtrlState.pid and (CS.esp_hold_confirmation or CS.out.vEgo < 0.25)
         long_active = CC.longActive
-        accel = actuators.accel
+        accel = accel_during_driver_override(actuators.accel, CS.out.gasPressed, self.CP_IQ.longActiveWithGasOverride)
         esp_starting_override = None
         esp_stopping_override = None
 

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

@@ -0,0 +1,17 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos/
+"""
+
+import pytest
+
+from iqdbc.car.volkswagen.carcontroller import accel_during_driver_override
+
+
+@pytest.mark.parametrize("accel", [-3.5, -0.5, 0.0, 0.5, 2.0])
+def test_opted_in_driver_override_sends_neutral_accel(accel):
+  assert accel_during_driver_override(accel, True, True) == 0.0
+
+
+@pytest.mark.parametrize("gas_pressed,keep_long_active", [(False, False), (False, True), (True, False)])
+def test_other_longitudinal_paths_preserve_accel(gas_pressed, keep_long_active):
+  assert accel_during_driver_override(-0.7, gas_pressed, keep_long_active) == -0.7

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

@@ -0,0 +1,43 @@
+"""Copyright (c) IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved."""
+
+from iqdbc.can import CANPacker, CANParser
+from iqdbc.car.volkswagen import mebcan
+
+
+EA_HUD_VALUES = {
+  "EA_Texte": 0,
+  "ACF_Lampe_Hands_Off": 0,
+  "EA_Infotainment_Anf": 0,
+  "EA_Tueren_Anf": 0,
+  "EA_Innenraumlicht_Anf": 0,
+  "zFAS_Warnblinken": 0,
+  "STP_Primaeranz": 0,
+  "EA_Bremslichtblinken": 0,
+  "EA_Blinken": 0,
+  "EA_Unknown": 0,
+}
+EA_CONTROL_VALUES = {"EA_Funktionsstatus": 2}
+
+
+def blinker_values(dbc, requests):
+  packer = CANPacker(dbc)
+  parser = CANParser(dbc, [("EA_02", 50)], 0)
+  values = []
+  for left, right in requests:
+    msg = mebcan.create_blinker_control(
+      packer, 0, EA_HUD_VALUES, EA_CONTROL_VALUES, left, right, False,
+    )
+    parser.update([0, [msg]])
+    values.append(int(parser.vl["EA_02"]["EA_Blinken"]))
+  return values
+
+
+def test_nav_blinker_request_remains_asserted_until_released():
+  requests = [(True, False)] * 100 + [(False, False)]
+  assert blinker_values("vw_meb", requests) == [1] * 100 + [0]
+
+
+def test_nav_blinker_directions_on_meb_variants():
+  requests = [(True, False), (False, True), (False, False)]
+  for dbc in ("vw_meb", "vw_meb_2024", "vw_mqbevo"):
+    assert blinker_values(dbc, requests) == [1, 2, 0]

iqpilot/selfdrive/controls/controlsd.py

@@ -221,7 +221,7 @@ class Controls(IQControlsLayer):
       self.sm['iqNavState'] if self.sm.alive['iqNavState'] else None,
       self.navigation_enabled,
       self.nav_exit_lane_change,
-      CC.enabled and CC.latActive,
+      CC.latActive,
       CS.leftBlinker,
       CS.rightBlinker,
       CS.vEgo,