VW PQ: Check steer req bit (#1630)

* vw pq * misra
commaai · Sep 11, 2023 · d4e63da · d4e63da
1 parent 428b303
commit d4e63da
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Showing 2 changed files with 5 additions and 2 deletions.
diff --git a/board/safety/safety_volkswagen_pq.h b/board/safety/safety_volkswagen_pq.h
@@ -197,7 +197,10 @@ static int volkswagen_pq_tx_hook(CANPacket_t *to_send) {
       desired_torque *= -1;
     }
 
-    if (steer_torque_cmd_checks(desired_torque, -1, VOLKSWAGEN_PQ_STEERING_LIMITS)) {
+    uint32_t hca_status = ((GET_BYTE(to_send, 1) >> 4) & 0xFU);
+    bool steer_req = (hca_status == 5U);
+
+    if (steer_torque_cmd_checks(desired_torque, steer_req, VOLKSWAGEN_PQ_STEERING_LIMITS)) {
       tx = 0;
     }
   }

diff --git a/tests/safety/test_volkswagen_pq.py b/tests/safety/test_volkswagen_pq.py
@@ -71,7 +71,7 @@ def _torque_driver_msg(self, torque):
 
   # openpilot steering output torque
   def _torque_cmd_msg(self, torque, steer_req=1):
-    values = {"LM_Offset": abs(torque), "LM_OffSign": torque < 0}
+    values = {"LM_Offset": abs(torque), "LM_OffSign": torque < 0, "HCA_Status": 5 if steer_req else 3}
     return self.packer.make_can_msg_panda("HCA_1", 0, values)
 
   # ACC engagement and brake light switch status