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IQ.Pilot Release Commit @ 482798a

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IQ.Lvbs CI [bot]
2026-08-23 15:33:29 -05:00
parent 750892168c
commit 7954d43e00
53 changed files with 1020 additions and 515 deletions
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6
artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/carcontroller.py
View File

@@ -366,8 +366,8 @@ class CarController(CarControllerBase):
min_power = max(self.steering_power_last - self.CCP.STEERING_POWER_STEP, self.CCP.STEERING_POWER_MIN)
max_power = min(self.steering_power_last + self.CCP.STEERING_POWER_STEP, self.CCP.STEERING_POWER_MAX)
target_power_driver = int(np.interp(CS.out.steeringTorque, [self.CCP.STEER_DRIVER_ALLOWANCE, self.CCP.STEER_DRIVER_MAX],
[self.CCP.STEERING_POWER_MAX, self.CCP.STEERING_POWER_MIN]))
target_power_driver = int(np.interp(abs(CS.out.steeringTorque), [self.CCP.STEER_DRIVER_ALLOWANCE, self.CCP.STEER_DRIVER_MAX],
[self.CCP.STEERING_POWER_MAX, self.CCP.STEERING_POWER_MIN]))
target_power = int(np.interp(CS.out.vEgo, [0., 0.5], [self.CCP.STEERING_POWER_MIN, target_power_driver]))
steering_power = min(max(target_power, min_power), max_power)
else:
@@ -486,7 +486,7 @@ class CarController(CarControllerBase):
acc_control = self.CCS.acc_control_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.enabled, long_override)
acc_hold_type, self.acc_hold_ramp_counter = self.CCS.acc_hold_type(
CS.out.cruiseState.available, CS.out.accFaulted, CC.enabled, starting, stopping,
CS.esp_hold_confirmation, long_override, self.acc_hold_type_last, self.acc_hold_ramp_counter)
CS.esp_hold_confirmation, CS.out.vEgo, self.acc_hold_type_last, self.acc_hold_ramp_counter)
self.acc_hold_type_last = acc_hold_type
can_sends.extend(self.CCS.create_acc_accel_control(
self.packer_pt, self.CAN.pt, self.CP, CS.acc_type, CC.enabled,

46
artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/mebcan.py
View File

@@ -17,6 +17,7 @@ ACC_HMS_RELEASE = 4
ACC_HMS_HOLD = 1
ACC_HMS_NO_REQUEST = 0
ACC_HMS_RAMP_FRAMES = 5
ACC_HMS_RELEASE_SPEED = 5 * CV.KPH_TO_MS
ACC_HUD_ERROR = 6
ACC_HUD_OVERRIDE = 4
@@ -161,33 +162,34 @@ def acc_control_value(main_switch_on, acc_faulted, long_active, override):
return acc_control
def acc_hold_type(main_switch_on, acc_faulted, long_active, starting, stopping, esp_hold, override,
def acc_hold_type(main_switch_on, acc_faulted, long_active, starting, stopping, esp_hold, v_ego,
prev_acc_hold_type, ramp_counter):
# warning: car is reacting to hold mechanic even with long control off
# HALTEN or ANFAHREN straight to KEINE_ANFORDERUNG faults the car into park, so a ramp always sits
# in between: going inactive ramps for a fixed time, and a release while engaged ramps until the
# car is actually rolling
active = long_active and not acc_faulted
if acc_faulted:
acc_hold_type = ACC_HMS_NO_REQUEST # no hold request
elif not long_active:
acc_hold_type = ACC_HMS_NO_REQUEST # no hold request
elif override:
acc_hold_type = ACC_HMS_NO_REQUEST # overriding / no request
elif starting:
acc_hold_type = ACC_HMS_RELEASE # release request and startup
elif stopping or esp_hold:
acc_hold_type = ACC_HMS_HOLD # hold or hold request
if not active:
if ramp_counter > 0:
acc_hold_type = ACC_HMS_RAMP_RELEASE
ramp_counter -= 1
else:
acc_hold_type = ACC_HMS_NO_REQUEST
else:
acc_hold_type = ACC_HMS_NO_REQUEST # no hold request
if acc_hold_type == ACC_HMS_HOLD:
ramp_counter = 0
elif prev_acc_hold_type == ACC_HMS_HOLD and acc_hold_type == ACC_HMS_NO_REQUEST:
acc_hold_type = ACC_HMS_RAMP_RELEASE
was_active = ramp_counter == ACC_HMS_RAMP_FRAMES
ramp_counter = ACC_HMS_RAMP_FRAMES
elif ramp_counter > 0:
acc_hold_type = ACC_HMS_RAMP_RELEASE
ramp_counter -= 1
else:
pass
if stopping:
acc_hold_type = ACC_HMS_HOLD
elif starting:
acc_hold_type = ACC_HMS_RELEASE
else:
releasing = was_active and prev_acc_hold_type in (ACC_HMS_HOLD, ACC_HMS_RELEASE, ACC_HMS_RAMP_RELEASE)
if releasing and v_ego < ACC_HMS_RELEASE_SPEED:
acc_hold_type = ACC_HMS_RAMP_RELEASE
else:
acc_hold_type = ACC_HMS_NO_REQUEST
return acc_hold_type, ramp_counter