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VW MQB: Check steer req bit #1631

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merged 1 commit into from
Sep 1, 2023
Merged

VW MQB: Check steer req bit #1631

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4 changes: 3 additions & 1 deletion board/safety/safety_volkswagen_mqb.h
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Original file line number Diff line number Diff line change
Expand Up @@ -223,7 +223,9 @@ static int volkswagen_mqb_tx_hook(CANPacket_t *to_send) {
desired_torque *= -1;
}

if (steer_torque_cmd_checks(desired_torque, -1, VOLKSWAGEN_MQB_STEERING_LIMITS)) {
bool steer_req = GET_BIT(to_send, 30U) != 0U;

if (steer_torque_cmd_checks(desired_torque, steer_req, VOLKSWAGEN_MQB_STEERING_LIMITS)) {
tx = 0;
}
}
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2 changes: 1 addition & 1 deletion tests/safety/test_volkswagen_mqb.py
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Expand Up @@ -85,7 +85,7 @@ def _torque_driver_msg(self, torque):

# openpilot steering output torque
def _torque_cmd_msg(self, torque, steer_req=1):
values = {"HCA_01_LM_Offset": abs(torque), "HCA_01_LM_OffSign": torque < 0}
values = {"HCA_01_LM_Offset": abs(torque), "HCA_01_LM_OffSign": torque < 0, "HCA_01_Sendestatus": steer_req}
return self.packer.make_can_msg_panda("HCA_01", 0, values)

# Cruise control buttons
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