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IQ.Pilot Release Commit @ 24db8ae

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IQ.Lvbs CI [bot]
2026-08-25 22:13:17 -05:00
parent 2f0ec679ec
commit 31a37f5a3c
67 changed files with 6134 additions and 137 deletions
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4
artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/carcontroller.py
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@@ -375,7 +375,9 @@ class CarController(CarControllerBase):
self.LateralController.reset()
if self.steering_power_last > 0:
hca_enabled = True
apply_curvature = np.clip(CS.out.steeringCurvature, -self.CCP.CURVATURE_LIMITS.CURVATURE_MAX, self.CCP.CURVATURE_LIMITS.CURVATURE_MAX)
handoff_curvature = self.apply_curvature_last + (CS.out.steeringCurvature - self.apply_curvature_last) * self.CCP.CURVATURE_HANDOFF_RATE
apply_curvature = apply_std_curvature_limits(handoff_curvature, self.apply_curvature_last, CS.out.vEgoRaw, CS.out.steeringCurvature,
CS.out.steeringPressed, self.CCP.STEER_STEP, True, self.CCP.CURVATURE_LIMITS)
steering_power = max(self.steering_power_last - self.CCP.STEERING_POWER_STEP, 0)
else:
hca_enabled = False

7
artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/carstate.py
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@@ -6,9 +6,10 @@ import os
import math
import time
from iqdbc.can import CANParser
from iqdbc.car import Bus, structs
from iqdbc.car import DT_CTRL, Bus, structs
from iqdbc.car.interfaces import CarStateBase
from iqdbc.car.common.conversions import Conversions as CV
from iqdbc.car.common.filter_simple import FirstOrderFilter
from iqdbc.car.volkswagen.values import CAR, DBC, CanBus, NetworkLocation, RADAR_DISABLE_STATE, TransmissionType, GearShifter, \
CarControllerParams, VolkswagenFlags, VolkswagenFlagsIQ
from iqdbc.car.volkswagen.speed_limit_manager import SpeedLimitManager
@@ -28,6 +29,7 @@ class CarState(CarStateBase):
CRUISE_FAULT_LATERAL_DISABLE_FRAMES = 20
MEB_TEMP_CRUISE_FAULT = 6
MEB_TOLERANCE_MAX = 100
DRIVER_TORQUE_TAU = 0.10
def __init__(self, CP, CP_IQ):
from iqpilot.system.proprietary_runtime._verified_import import import_verified_module
@@ -37,6 +39,7 @@ class CarState(CarStateBase):
self.frame = 0
self.eps_init_complete = False
self.CCP = CarControllerParams(CP)
self.driver_torque_filter = FirstOrderFilter(0.0, self.DRIVER_TORQUE_TAU, DT_CTRL)
self.button_states = {button.event_type: False for button in self.CCP.BUTTONS}
self.esp_hold_confirmation = False
self.upscale_lead_car_signal = False
@@ -323,7 +326,7 @@ class CarState(CarStateBase):
ret.steeringRateDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradw_Geschw"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradw_Geschw"])]
ret.steeringTorque = pt_cp.vl["LH_EPS_03"]["EPS_Lenkmoment"] * (1, -1)[int(pt_cp.vl["LH_EPS_03"]["EPS_VZ_Lenkmoment"])]
driver_override_threshold = self._iq_lvbs_alc.vw_driver_override_threshold_cnm(self, "mqb", self.CCP.STEER_DRIVER_ALLOWANCE)
ret.steeringPressed = abs(ret.steeringTorque) > driver_override_threshold
ret.steeringPressed = abs(self.driver_torque_filter.update(ret.steeringTorque)) > driver_override_threshold
self.curvature = -pt_cp.vl["QFK_01"]["Curvature"] * (1, -1)[int(pt_cp.vl["QFK_01"]["Curvature_VZ"])]
ret.steeringCurvature = self.curvature

9
artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/values.py
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@@ -118,7 +118,7 @@ class CarControllerParams:
if CP.flags & VolkswagenFlags.PQ:
self.LDW_STEP = 5 # LDW_1 message frequency 20Hz
self.ACC_HUD_STEP = 4 # ACC_GRA_Anzeige frequency 25Hz
self.STEER_DRIVER_ALLOWANCE = 80 # Driver intervention threshold 0.8 Nm
self.STEER_DRIVER_ALLOWANCE = 80
self.STEER_DELTA_UP = 6
self.STEER_DELTA_DOWN = 10
@@ -147,11 +147,12 @@ class CarControllerParams:
elif CP.flags & (VolkswagenFlags.MEB | VolkswagenFlags.MQB_EVO):
self.LDW_STEP = 10
self.ACC_HUD_STEP = 6
self.STEER_DRIVER_ALLOWANCE = 60
self.STEER_DRIVER_ALLOWANCE = 80
self.STEER_DRIVER_MAX = 300
self.STEERING_POWER_MAX = 90
self.STEERING_POWER_MIN = 4
self.STEERING_POWER_STEP = 2
self.CURVATURE_HANDOFF_RATE = 0.20
self.CURVATURE_PID: structs.CarParams.LateralPIDTuning = structs.CarParams.LateralPIDTuning(
kpBP=[10., 40.],
@@ -204,7 +205,7 @@ class CarControllerParams:
self.hca_status_values = can_define.dv["LH_EPS_03"]["EPS_HCA_Status"]
if CP.flags & VolkswagenFlags.MLB:
self.STEER_DRIVER_ALLOWANCE = 60 # Driver intervention threshold 0.6 Nm
self.STEER_DRIVER_ALLOWANCE = 80 # Driver intervention threshold 0.8 Nm
self.STEER_DELTA_UP = 9 # Max HCA reached in 0.66s (STEER_MAX / (50Hz * 0.66))
self.STEER_DELTA_DOWN = 10 # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))
self.ACC_HUD_TEXT_STEP = int(2.0 / DT_CTRL) # ACC_02 primary display text dwell time
@@ -231,7 +232,7 @@ class CarControllerParams:
self.ACC_HUD_TEXT_DISTANCE = {1: 2, 2: 3, 3: 4, 4: 5} # follow distance bars to display text
else:
self.STEER_DRIVER_ALLOWANCE = 80 # Driver intervention threshold 0.8 Nm
self.STEER_DRIVER_ALLOWANCE = 80
self.STEER_DELTA_UP = 4 # Max HCA reached in 1.50s (STEER_MAX / (50Hz * 1.50))
self.STEER_DELTA_DOWN = 10 # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))

2
artifacts/package_sources/iqdbc/iqdbc/safety/modes/volkswagen_mlb.h
View File

@@ -175,7 +175,7 @@ static bool volkswagen_mlb_tx_hook(const CANPacket_t *msg) {
.max_rt_delta = 169, // 10 max rate up * 50Hz send rate * 250000 RT interval / 1000000 = 112.5 ; 112.5 * 1.5 for safety pad = 168.75
.max_rate_up = 9, // 5.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s)
.max_rate_down = 10, // 5.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s)
.driver_torque_allowance = 60,
.driver_torque_allowance = 80,
.driver_torque_multiplier = 3,
.type = TorqueDriverLimited,
};

2
artifacts/package_sources/iqdbc/iqdbc/safety/tests/test_volkswagen_mlb.py
View File

@@ -32,7 +32,7 @@ class TestVolkswagenMlbSafetyBase(common.CarSafetyTest, common.DriverTorqueSteer
MAX_TORQUE_LOOKUP = [0], [300]
MAX_RT_DELTA = 169
DRIVER_TORQUE_ALLOWANCE = 60
DRIVER_TORQUE_ALLOWANCE = 80
DRIVER_TORQUE_FACTOR = 3
# Wheel speeds _esp_03_msg