Op 23 tiguan

.gitmodules

@@ -3,7 +3,7 @@
   url = ../../commaai/panda.git
 [submodule "opendbc"]
   path = opendbc
-  url = ../../commaai/opendbc.git
+  url = ../../colortrekninja/opendbc.git
 [submodule "cereal"]
   path = cereal
   url = ../../commaai/cereal.git

selfdrive/car/docs_definitions.py

@@ -266,7 +266,7 @@ def init(self, CP: car.CarParams, all_footnotes: dict[Enum, int]):
     # min steer & enable speed columns
     # TODO: set all the min steer speeds in carParams and remove this
     if self.min_steer_speed is not None:
-      assert CP.minSteerSpeed == 0, f"{CP.carFingerprint}: Minimum steer speed set in both CarDocs and CarParams"
+      assert CP.minSteerSpeed < 4, f"{CP.carFingerprint}: Minimum steer speed set in both CarDocs and CarParams"
     else:
       self.min_steer_speed = CP.minSteerSpeed
 

selfdrive/car/volkswagen/carstate.py

@@ -259,7 +259,7 @@ def update_hca_state(self, hca_status):
     # DISABLED means the EPS hasn't been configured to support Lane Assist
     self.eps_init_complete = self.eps_init_complete or (hca_status in ("DISABLED", "READY", "ACTIVE") or self.frame > 600)
     perm_fault = hca_status == "DISABLED" or (self.eps_init_complete and hca_status in ("INITIALIZING", "FAULT"))
-    temp_fault = hca_status == "REJECTED" or not self.eps_init_complete
+    temp_fault = hca_status in ("REJECTED", "PREEMPTED") or not self.eps_init_complete
     return temp_fault, perm_fault
 
   @staticmethod

selfdrive/car/volkswagen/interface.py

@@ -2,7 +2,7 @@
 from panda import Panda
 from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
-from openpilot.selfdrive.car.volkswagen.values import CAR, CANBUS, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags
+from openpilot.selfdrive.car.volkswagen.values import CAR, CANBUS, CarControllerParams, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags
 
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
@@ -103,7 +103,7 @@ def _update(self, c):
                                        enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))
 
     # Low speed steer alert hysteresis logic
-    if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 1.):
+    if (self.CP.minSteerSpeed - 1e-3) > CarControllerParams.DEFAULT_MIN_STEER_SPEED and ret.vEgo < (self.CP.minSteerSpeed + 1.):
       self.low_speed_alert = True
     elif ret.vEgo > (self.CP.minSteerSpeed + 2.):
       self.low_speed_alert = False

selfdrive/car/volkswagen/values.py

@@ -34,6 +34,8 @@ class CarControllerParams:
   STEER_TIME_ALERT = STEER_TIME_MAX - 10   # If mitigation fails, time to soft disengage before EPS timer expires
   STEER_TIME_STUCK_TORQUE = 1.9            # EPS limits same torque to 6 seconds, reset timer 3x within that period
 
+  DEFAULT_MIN_STEER_SPEED = 3.0            # m/s, newer EPS racks fault below this speed, don't show a low speed alert
+
   ACCEL_MAX = 2.0                          # 2.0 m/s max acceleration
   ACCEL_MIN = -3.5                         # 3.5 m/s max deceleration
 
@@ -134,6 +136,7 @@ def init(self):
 class VolkswagenCarSpecs(CarSpecs):
   centerToFrontRatio: float = 0.45
   steerRatio: float = 15.6
+  minSteerSpeed: float = CarControllerParams.DEFAULT_MIN_STEER_SPEED
 
 
 class Footnote(Enum):
@@ -170,6 +173,9 @@ def init_make(self, CP: car.CarParams):
     if CP.carFingerprint in (CAR.VOLKSWAGEN_CRAFTER_MK2, CAR.VOLKSWAGEN_TRANSPORTER_T61):
       self.car_parts = CarParts([Device.threex_angled_mount, CarHarness.j533])
 
+    if abs(CP.minSteerSpeed - CarControllerParams.DEFAULT_MIN_STEER_SPEED) < 1e-3:
+      self.min_steer_speed = 0
+
 
 # Check the 7th and 8th characters of the VIN before adding a new CAR. If the
 # chassis code is already listed below, don't add a new CAR, just add to the
@@ -272,7 +278,7 @@ class CAR(Platforms):
       VWCarDocs("Volkswagen Tiguan 2018-24"),
       VWCarDocs("Volkswagen Tiguan eHybrid 2021-23"),
     ],
-    VolkswagenCarSpecs(mass=1715, wheelbase=2.74),
+    VolkswagenCarSpecs(mass=1715, wheelbase=2.9),
   )
   VOLKSWAGEN_TOURAN_MK2 = VolkswagenMQBPlatformConfig( # Chassis 1T
     [VWCarDocs("Volkswagen Touran 2016-23")],