IQ.Pilot Release Commit @ 2b39aa6
This commit is contained in:
IQ.Lvbs CI [bot]
@@ -1,15 +1,16 @@
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import time
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from iqdbc.car.common.conversions import Conversions as CV
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from iqdbc.car import get_safety_config, structs, uds
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from iqdbc.car.carlog import carlog
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from iqdbc.car.interfaces import CarInterfaceBase
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from iqdbc.car.isotp_parallel_query import IsoTpParallelQuery
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from iqdbc.car.volkswagen.carcontroller import CarController
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from iqdbc.car.volkswagen.carstate import CarState
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from iqdbc.car.volkswagen.values import CanBus, CAR, DashcamOnlyReason, NetworkLocation, RADAR_DISABLE_STATE, TransmissionType, VolkswagenFlags, VolkswagenSafetyFlags, VolkswagenFlagsIQ
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from iqdbc.car.volkswagen.values import (
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CAR, CanBus, DashcamOnlyReason, NetworkLocation, RADAR_DISABLE_STATE, TransmissionType,
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VolkswagenFlags, VolkswagenSafetyFlags, VolkswagenFlagsIQ, get_longitudinal_stopping_speed_override,
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)
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from iqdbc.car.volkswagen.radar_interface import RadarInterface
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from iqdbc.car.common.conversions import Conversions as CV
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import sys
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import os
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iqpilot_path = os.path.join(os.path.dirname(__file__), '..', '..', '..')
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@@ -19,6 +20,11 @@ try:
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except ImportError:
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pass
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try:
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from openpilot.system.proprietary_runtime._verified_import import import_verified_module
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except Exception:
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import_verified_module = None
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class CarInterface(CarInterfaceBase):
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CarState = CarState
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@@ -39,9 +45,16 @@ class CarInterface(CarInterfaceBase):
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if ret.flags & VolkswagenFlags.PQ:
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# Set global PQ35/PQ46/NMS parameters
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safety_configs = [get_safety_config(structs.CarParams.SafetyModel.volkswagenPq)]
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if candidate == CAR.SEAT_ALHAMBRA_MK1:
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ret.flags |= VolkswagenFlagsIQ.IQ_PQ_TIMEBOMB.value
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if not (ret.flags & VolkswagenFlagsIQ.IQ_PQ_TIMEBOMB) and _params.get_bool("VwPqEpsPatched"):
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ret.minSteerSpeed = 0
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if angle_lat_enabled:
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ret.flags |= VolkswagenFlagsIQ.IQ_LVBS_ALC_MODULE.value
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safety_configs[0].safetyParam |= VolkswagenSafetyFlags.PQ_ALC_MODULE.value
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if alpha_long:
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ret.flags |= VolkswagenFlagsIQ.IQ_PQ_SNG_ECD.value
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safety_configs[0].safetyParam |= VolkswagenSafetyFlags.PQ_SNG_ECD.value
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ret.enableBsm = 0x3BA in fingerprint[0] # SWA_1
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if 0x440 in fingerprint[0] or docs: # Getriebe_1
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@@ -59,6 +72,13 @@ class CarInterface(CarInterfaceBase):
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else:
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ret.flags |= VolkswagenFlagsIQ.IQ_CC_ONLY_NO_RADAR.value
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cc_only_flags = VolkswagenFlagsIQ.IQ_CC_ONLY | VolkswagenFlagsIQ.IQ_CC_ONLY_NO_RADAR
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if ret.flags & cc_only_flags:
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safety_configs[0].safetyParam |= VolkswagenSafetyFlags.PQ_NO_CAM_BUS.value
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if (ret.flags & cc_only_flags) and not fingerprint[0]:
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ret.flags |= VolkswagenFlagsIQ.IQ_PQ_LOWLINE.value
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safety_configs[0].safetyParam |= VolkswagenSafetyFlags.PQ_LOWLINE.value
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if any(msg in fingerprint[1] for msg in (0x1A0, 0xC2)): # Bremse_1, Lenkwinkel_1
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ret.networkLocation = NetworkLocation.gateway
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else:
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@@ -151,7 +171,7 @@ class CarInterface(CarInterfaceBase):
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ret.steerLimitTimer = 0.4
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if ret.flags & VolkswagenFlags.PQ:
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ret.steerActuatorDelay = 0.2
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ret.longitudinalTuning.kfDEPRECATED = 1.2
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ret.longitudinalTuning.kf = 1.2
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ret.longitudinalTuning.kpBP = [0.]
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ret.longitudinalTuning.kpV = [.45]
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ret.longitudinalTuning.kiBP = [0.]
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@@ -164,19 +184,20 @@ class CarInterface(CarInterfaceBase):
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CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
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elif ret.flags & VolkswagenFlags.MLB:
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ret.steerActuatorDelay = 0.2
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CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
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if angle_lat_enabled:
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ret.steerControlType = structs.CarParams.SteerControlType.angle
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ret.steerAtStandstill = bool(joystick_mode)
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else:
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CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
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elif ret.flags & (VolkswagenFlags.MEB | VolkswagenFlags.MQB_EVO):
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ret.steerActuatorDelay = 0.3
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else:
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ret.steerActuatorDelay = 0.1
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ret.lateralTuning.pid.kpBP = [0.]
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ret.lateralTuning.pid.kiBP = [0.]
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ret.lateralTuning.pid.kf = 0.00006
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ret.lateralTuning.pid.kpV = [0.6]
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ret.lateralTuning.pid.kiV = [0.2]
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if angle_lat_enabled:
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ret.steerControlType = structs.CarParams.SteerControlType.angle
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ret.steerAtStandstill = bool(joystick_mode)
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else:
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CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
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# Global longitudinal tuning defaults, can be overridden per-vehicle
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@@ -200,17 +221,12 @@ class CarInterface(CarInterfaceBase):
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if candidate == CAR.PORSCHE_MACAN_MK1:
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ret.steerActuatorDelay = 0.07
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if candidate == CAR.VOLKSWAGEN_PASSAT_B7 or CAR.SEAT_ALHAMBRA_MK1:
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ret.flags |= VolkswagenFlagsIQ.IQ_PQ_ACC_FTS_EPB.value
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safety_configs[0].safetyParam |= VolkswagenSafetyFlags.PQ_ACC_FTS_EPB.value
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ret.pcmCruise = not ret.openpilotLongitudinalControl
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if ret.flags & (VolkswagenFlags.MEB | VolkswagenFlags.MQB_EVO):
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ret.startingState = True
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ret.startAccel = 0.8
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ret.vEgoStarting = 0.5
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ret.vEgoStopping = 0.1
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ret.stopAccel = -0.55
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else:
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ret.stopAccel = -0.55
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ret.vEgoStarting = 0.1
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ret.vEgoStopping = 1.5 * CV.KPH_TO_MS if ret.flags & VolkswagenFlags.PQ else 0.1
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ret.stopAccel = -0.55
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ret.autoResumeSng = ret.minEnableSpeed == -1
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CAN = CanBus(fingerprint=fingerprint)
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if CAN.pt >= 4:
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@@ -221,10 +237,18 @@ class CarInterface(CarInterfaceBase):
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@staticmethod
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def pre_init(CP: structs.CarParams, CP_IQ: structs.IQCarParams, can_recv, can_send):
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# Engine-on check moved to init(): if radar can't be disabled, radarDisableFailed=True
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# gates only long control (carcontroller line ~308) while lateral still works.
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# Full dashcam mode here was too aggressive — lateral doesn't need radar disabled.
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pass
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if not (CP.flags & VolkswagenFlags.PQ) or (CP.flags & VolkswagenFlagsIQ.IQ_PQ_TIMEBOMB) or import_verified_module is None:
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return
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try:
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params = Params()
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if params.get_bool("VwPqEpsPatched"):
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return
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flasher = import_verified_module("iqpilot_hephaestusd_private", "iqpilot_private.konn3kt.hephaestus.vw_pq_flasher")
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status = flasher.check_eps_patch_status(1, can_recv, can_send)
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except Exception:
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return
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if status == "patched":
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params.put_bool("VwPqEpsPatched", True)
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@staticmethod
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def init(CP: structs.CarParams, CP_IQ: structs.IQCarParams, can_recv, can_send):
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@@ -321,4 +345,5 @@ class CarInterface(CarInterfaceBase):
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@staticmethod
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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:
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ret.longitudinalStoppingSpeedOverride = get_longitudinal_stopping_speed_override(candidate, stock_cp.flags)
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return ret
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