IQ.Lvbs/IQ.Pilot
8
7
Fork 3
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

IQ.Pilot Release Commit @ 36625eb

Browse Source
This commit is contained in:
IQ.Lvbs CI [bot]
2026-07-26 12:45:03 -05:00
parent 563022daa3
commit e557c3d8ee
38 changed files with 810 additions and 941 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
iqdbc_repo/iqdbc/car/volkswagen/carcontroller.py
View File

@@ -474,7 +474,7 @@ class CarController(CarControllerBase):
if hud_control.leadDistanceBars != self.lead_distance_bars_last:
self.distance_bar_frame = self.frame
if self.frame % self.CCP.ACC_HUD_STEP == 0 and self.CP.openpilotLongitudinalControl:
if self.frame % self.CCP.ACC_HUD_STEP == 0 and self.CP.openpilotLongitudinalControl and not CS.out.radarDisableFailed:
if self.CP.flags & (VolkswagenFlags.MEB | VolkswagenFlags.MQB_EVO):
fcw_alert = hud_control.visualAlert == VisualAlert.fcw
show_distance_bars = self.frame - self.distance_bar_frame < 400

20
iqdbc_repo/iqdbc/car/volkswagen/carstate.py
View File

@@ -340,11 +340,19 @@ class CarState(CarStateBase):
self.ldw_stock_values = cam_cp.vl["LDW_02"]
awv_values = ext_cp.vl.get("AWV_03", ext_cp.vl.get("ACC_10", {}))
ret.stockFcw = bool(awv_values.get("FCW_Active", 0)) or bool(awv_values.get("AWV2_Freigabe", 0))
if not (self.CP.flags & VolkswagenFlags.DISABLE_RADAR):
awv_values = ext_cp.vl.get("AWV_03", ext_cp.vl.get("ACC_10", {}))
ret.stockFcw = bool(awv_values.get("FCW_Active", 0)) or bool(awv_values.get("AWV2_Freigabe", 0))
else:
ret.stockFcw = False
ret.stockAeb = False
self.acc_type = ext_cp.vl["ACC_18"]["ACC_Typ"]
# Camera harness (DISABLE_RADAR): ext_cp == pt_cp, so ACC_18 reads our own sent value.
# Hardcode acc_type=2 (stop-and-go capable) to avoid self-referential read on first frame.
if self.CP.flags & VolkswagenFlags.DISABLE_RADAR:
self.acc_type = 2
else:
self.acc_type = ext_cp.vl["ACC_18"]["ACC_Typ"]
self.travel_assist_available = bool(pt_cp.vl.get("TA_01", {}).get("Travel_Assist_Available", 0))
ret.cruiseState.available = pt_cp.vl["Motor_51"]["TSK_Status"] in (2, 3, 4, 5)
@@ -764,11 +772,13 @@ class CarState(CarStateBase):
# math.nan → ignore_alive=True so it never contributes to can_valid.
("TA_01", math.nan),
]
if CP.networkLocation == NetworkLocation.fwdCamera:
# AWV_03 (stock radar FCW/AEB) — don't subscribe when DISABLE_RADAR, the radar is silenced
# and our carcontroller sends the replacement. Subscribing causes CAN parser timeout errors.
if CP.networkLocation == NetworkLocation.fwdCamera and not (CP.flags & VolkswagenFlags.DISABLE_RADAR):
pt_messages.append(("AWV_03", 1))
cam_messages = []
if CP.networkLocation == NetworkLocation.gateway:
if CP.networkLocation == NetworkLocation.gateway and not (CP.flags & VolkswagenFlags.DISABLE_RADAR):
cam_messages.append(("AWV_03", 1))
return {

2
iqdbc_repo/iqdbc/car/volkswagen/mebcan.py
View File

@@ -28,7 +28,7 @@ def create_steering_control(packer, bus, apply_curvature, lkas_enabled, power):
values = {
"Curvature": abs(apply_curvature), # in rad/m
"Curvature_VZ": 1 if apply_curvature > 0 and lkas_enabled else 0,
"Power": 100 if lkas_enabled else 0, # TEST: hard 100%, no ramp
"Power": power if lkas_enabled else 0,
"RequestStatus": 4 if lkas_enabled else 2,
"HighSendRate": lkas_enabled,
}

2
iqdbc_repo/iqdbc/car/volkswagen/values.py
View File

@@ -141,6 +141,8 @@ class CarControllerParams:
}
elif CP.flags & (VolkswagenFlags.MEB | VolkswagenFlags.MQB_EVO):
self.AEB_CONTROL_STEP = 100 # AWV_03 radar-replacement at 1Hz (class default 2 = 50Hz is for MQB ACC_10)
self.AEB_HUD_STEP = 20 # MEB_AWV_01 AEB HUD at 5Hz
self.LDW_STEP = 10
self.ACC_HUD_STEP = 6
self.STEER_DRIVER_ALLOWANCE = 60

4
iqdbc_repo/iqdbc/safety/modes/volkswagen_meb.h
View File

@@ -244,11 +244,11 @@ static bool volkswagen_meb_tx_hook(const CANPacket_t *msg) {
};
const CurvatureSteeringLimits VOLKSWAGEN_MEB_STEERING_LIMITS = {
.max_curvature = 32767, // TEST: 15-bit max, no curvature ceiling
.max_curvature = 29105,
.curvature_to_can = 149253.7313f,
.send_rate = 0.02f,
.inactive_curvature_is_zero = true,
.max_power = 65535, // TEST: no power ceiling
.max_power = 225, // 90% (raw byte, 0.4 %/bit; matches Python STEERING_POWER_MAX = 90)
};
bool tx = true;