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VW PQ: Update HCA Status to use Mode 2 (Status 7) #2722

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VW PQ: Update HCA Status to use Mode 2 (Status 7) #2722

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d137aa5
VW PQ: Update HCA Status to use Mode 2 (Status 7)
tealtwo Sep 2, 2025
dbe0706
VW PQ: update PQ safety test to use HCA status 7
tealtwo Oct 2, 2025
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2 changes: 1 addition & 1 deletion opendbc/car/volkswagen/pqcan.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@ def create_steering_control(packer, bus, apply_torque, lkas_enabled):
values = {
"LM_Offset": abs(apply_torque),
"LM_OffSign": 1 if apply_torque < 0 else 0,
"HCA_Status": 5 if (lkas_enabled and apply_torque != 0) else 3,
"HCA_Status": 7 if (lkas_enabled and apply_torque != 0) else 3,
"Vib_Freq": 16,
}

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2 changes: 1 addition & 1 deletion opendbc/safety/tests/test_volkswagen_pq.py
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Expand Up @@ -62,7 +62,7 @@ def _torque_driver_msg(self, torque):
return self.packer.make_can_msg_panda("Lenkhilfe_3", 0, values)

# openpilot steering output torque
def _torque_cmd_msg(self, torque, steer_req=1, hca_status=5):
def _torque_cmd_msg(self, torque, steer_req=1, hca_status=7):
values = {"LM_Offset": abs(torque), "LM_OffSign": torque < 0, "HCA_Status": hca_status if steer_req else 3}
return self.packer.make_can_msg_panda("HCA_1", 0, values)

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