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(cherry picked from commit 5a07de2)
(cherry picked from commit d68baff)
(cherry picked from commit 073ed94)
(cherry picked from commit 98b11d8)
(cherry picked from commit 41fb8f5)
(cherry picked from commit 1f2e0a5)
(cherry picked from commit 375f364)
(cherry picked from commit 48912d1)
(cherry picked from commit aedfa5f)
CANParser was logging timeout warnings continuously when BSM was fingerprinted but the message did not arrive at 20Hz. Set freq to 0 so values are still readable when received, without the timeout check. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com> (cherry picked from commit 5c65487)
(cherry picked from commit ca6722f)
Removing it from pt_messages did not fix the timeout warning: VLDict lazy-registers the address on first ext_cp.vl[...] access with the 1Hz/10s default, so 'not valid (timeout or missing)' still fires. Register explicitly with freq=NaN so ignore_alive=True suppresses the timeout check; values are still readable when the message arrives. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com> (cherry picked from commit aab571f)
ESC_50.Standstill is true whenever the car is stopped, which caused the UI to permanently show 'parking brake engaged'. Read the actual EPB status from Gateway_73 like elkoled/10 does. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com> (cherry picked from commit 5ae9df6)
Two regressions vs working elkoled/2: 1. carcontroller rate-limited curvature through apply_std_steer_angle_limits using ANGLE_LIMITS (max delta 0.0001 rad/m per 50Hz tick at 25 m/s). Going from 0 to 0.1 rad/m took ~19s of output frames -> steering reacted far too slowly. Drop the upstream rate limit; clip to CURVATURE_MAX like elkoled/2. The MEB rack handles its own slew. 2. carstate wrapped steeringPressed in update_steering_pressed(..., 5). With noisy driver torque the counter never reaches >5 (or saturates stuck), so the warning either never fires or fires erratically. Compare directly to STEER_DRIVER_ALLOWANCE like elkoled/2. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com> (cherry picked from commit cbefbb8)
(cherry picked from commit c28b952)
(cherry picked from commit 54fc151)
(cherry picked from commit a7a7126)
(cherry picked from commit d6090b0)
Replaces the MEB carcontroller active-steering math with the verbatim blocks from sunnypilot's deprecated curvature controller. CS.curvature_meas substitutes sunnypilot's CS.out.steeringCurvature (not in upstream cereal); this is the only intentional deviation. Ports CurvatureSteeringLimits and apply_std_curvature_limits (with helpers get_max_curvature_jerk / get_max_curvature_average) into lateral.py alongside the existing angle helpers (Ford/PSA/Nissan still use those). Switches MEB CarControllerParams from ANGLE_LIMITS to CURVATURE_LIMITS (0.195 m^-1). Wind-down branch matches sunnypilot exactly: clip measured curvature to CURVATURE_MAX while ramping steering power to zero. Safety remains on the angle-based stack (angle_is_curvature=true); the BP/V tables are widened to bound the ISO 11270 jerk envelope used by apply_std_curvature_limits at every speed and to accept the wind-down single-frame jump. (cherry picked from commit 7777be8)
(cherry picked from commit d926869)
(cherry picked from commit ef3fd98)
(cherry picked from commit 05da71d)
(cherry picked from commit 4b1b696)
(cherry picked from commit a8b34dc)
(cherry picked from commit 9774eae)
…limits The VM-helper path tightened the jerk envelope to MAX_LATERAL_JERK=3.6 (vs ISO_LATERAL_JERK=5.0 in apply_std_curvature_limits), slowing the commanded curvature ramp ~37% at speed. On-vehicle the EPS faults with LKAS unavailable. Revert to the previously-shipped curvature/safety math which is known-good on elkoled/7.
…rvature limits" This reverts commit d8c228c.
Car behavior reportReplays driving segments through this PR and compares the behavior to master. Testing 130 segments for: VOLKSWAGEN_ARTEON_MK1, VOLKSWAGEN_ATLAS_MK1, VOLKSWAGEN_CRAFTER_MK2, VOLKSWAGEN_GOLF_MK7, VOLKSWAGEN_JETTA_MK7, VOLKSWAGEN_PASSAT_MK8, VOLKSWAGEN_PASSAT_NMS, VOLKSWAGEN_POLO_MK6, VOLKSWAGEN_TAOS_MK1, VOLKSWAGEN_TIGUAN_MK2, VOLKSWAGEN_TOURAN_MK2, VOLKSWAGEN_TRANSPORTER_T61, VOLKSWAGEN_TROC_MK1 ERROR VOLKSWAGEN_ARTEON_MK1 - 0662797832aac2eb/00000226--3a5c93c9d1/18: Traceback (most recent call last): ERROR VOLKSWAGEN_ARTEON_MK1 - 0662797832aac2eb/00000261--a1cbc3f325/24: Traceback (most recent call last): ERROR VOLKSWAGEN_ARTEON_MK1 - 0662797832aac2eb/00000243--62929a92c5/73: Traceback (most recent call last): ERROR VOLKSWAGEN_ARTEON_MK1 - 3499b7976a5cc2d2/000000fa--291d67a7d6/12: Traceback (most recent call last): ERROR VOLKSWAGEN_ARTEON_MK1 - 5f3d7dd461df4048/00000004--51fcd03b3e/8: Traceback (most recent call last): ERROR VOLKSWAGEN_ARTEON_MK1 - 5f3d7dd461df4048/00000004--51fcd03b3e/18: Traceback (most recent call last): ERROR VOLKSWAGEN_ARTEON_MK1 - 3499b7976a5cc2d2/00000071--e7b80a88d5/7: Traceback (most recent call last): ERROR VOLKSWAGEN_ARTEON_MK1 - 5f3d7dd461df4048/00000008--45d295c427/109: Traceback (most recent call last): ERROR VOLKSWAGEN_ARTEON_MK1 - 3499b7976a5cc2d2/000000a0--2505417b2e/21: Traceback (most recent call last): ERROR VOLKSWAGEN_ARTEON_MK1 - 0662797832aac2eb/0000010a--bf8934ce6b/68: Traceback (most recent call last): ERROR VOLKSWAGEN_ATLAS_MK1 - dd164eeda7f46755/2025-04-12--16-46-26/44: Traceback (most recent call last): ERROR VOLKSWAGEN_ATLAS_MK1 - dd164eeda7f46755/2025-04-12--16-46-26/38: Traceback (most recent call last): ERROR VOLKSWAGEN_ATLAS_MK1 - dd164eeda7f46755/2025-06-05--14-57-39/0: Traceback (most recent call last): ERROR VOLKSWAGEN_ATLAS_MK1 - dd164eeda7f46755/2025-04-12--16-46-26/26: Traceback (most recent call last): ERROR VOLKSWAGEN_ATLAS_MK1 - dd164eeda7f46755/2025-05-31--16-02-58/10: Traceback (most recent call last): ERROR VOLKSWAGEN_ATLAS_MK1 - dd164eeda7f46755/2025-04-12--16-46-26/42: Traceback (most recent call last): ERROR VOLKSWAGEN_ATLAS_MK1 - dd164eeda7f46755/2025-04-12--16-46-26/36: Traceback (most recent call last): ERROR VOLKSWAGEN_ATLAS_MK1 - dd164eeda7f46755/2025-06-05--13-48-10/13: Traceback (most recent call last): ERROR VOLKSWAGEN_ATLAS_MK1 - dd164eeda7f46755/2025-04-12--16-46-26/45: Traceback (most recent call last): ERROR VOLKSWAGEN_ATLAS_MK1 - dd164eeda7f46755/2025-06-21--11-33-22/23: Traceback (most recent call last): ERROR VOLKSWAGEN_CRAFTER_MK2 - eff70f032355b9b8/00000000--eb25ead570/62: Traceback (most recent call last): ERROR VOLKSWAGEN_CRAFTER_MK2 - 18a6942286d65b0b/00000028--23c2de5991/6: Traceback (most recent call last): ERROR VOLKSWAGEN_CRAFTER_MK2 - 18a6942286d65b0b/00000030--09b8fb0a24/16: Traceback (most recent call last): ERROR VOLKSWAGEN_CRAFTER_MK2 - 8b67b436238da6d0/000000fd--e546118089/14: Traceback (most recent call last): ERROR VOLKSWAGEN_CRAFTER_MK2 - b8474cc751fce058/00000059--36d6574d7f/69: Traceback (most recent call last): ERROR VOLKSWAGEN_CRAFTER_MK2 - 18a6942286d65b0b/00000037--71ea789e5e/16: Traceback (most recent call last): ERROR VOLKSWAGEN_CRAFTER_MK2 - 8b67b436238da6d0/0000011d--311f188411/75: Traceback (most recent call last): ERROR VOLKSWAGEN_CRAFTER_MK2 - 8b67b436238da6d0/000000e1--135251eba7/4: Traceback (most recent call last): ERROR VOLKSWAGEN_CRAFTER_MK2 - 18a6942286d65b0b/00000094--6258ecfe1f/35: Traceback (most recent call last): ERROR VOLKSWAGEN_CRAFTER_MK2 - 8b67b436238da6d0/0000011d--311f188411/11: Traceback (most recent call last): ERROR VOLKSWAGEN_GOLF_MK7 - dd3a758c42a0eb3c/00000021--da0a4932bd/5: Traceback (most recent call last): ERROR VOLKSWAGEN_GOLF_MK7 - 6e1773c99f8426d0/00000004--49b7bc18a0/11: Traceback (most recent call last): ERROR VOLKSWAGEN_GOLF_MK7 - c4bc16658071f521/00000001--4de8504a8c/105: Traceback (most recent call last): ERROR VOLKSWAGEN_GOLF_MK7 - 6727bc85ff644d3f/000003a0--45eaed2c59/3: Traceback (most recent call last): ERROR VOLKSWAGEN_GOLF_MK7 - b7bd5e2280dab321/00000017--b085b9f5f8/3: Traceback (most recent call last): ERROR VOLKSWAGEN_GOLF_MK7 - e4cee818cac727e1/00000144--10204bf612/18: Traceback (most recent call last): ERROR VOLKSWAGEN_GOLF_MK7 - 434df3000c5d36ff/00000020--4fbe8682ec/14: Traceback (most recent call last): ERROR VOLKSWAGEN_GOLF_MK7 - e4cee818cac727e1/00000162--25b1211ff1/39: Traceback (most recent call last): ERROR VOLKSWAGEN_GOLF_MK7 - e55f210ede806fde/0000045d--e8e8cb6e9e/6: Traceback (most recent call last): ERROR VOLKSWAGEN_GOLF_MK7 - 991faad88a91d8b8/00000633--382b5df2b2/13: Traceback (most recent call last): ERROR VOLKSWAGEN_JETTA_MK7 - a03c81d33ca77fcc/00000002--4dd8c3cbdb/19: Traceback (most recent call last): ERROR VOLKSWAGEN_JETTA_MK7 - 2bc6b4675a0708a4/00000010--d04820b510/10: Traceback (most recent call last): ERROR VOLKSWAGEN_JETTA_MK7 - 7eaf6664dbe6dda9/000000e2--d316b04299/3: Traceback (most recent call last): ERROR VOLKSWAGEN_JETTA_MK7 - a97d27ce2a78958a/000004c7--7fd67981da/14: Traceback (most recent call last): ERROR VOLKSWAGEN_JETTA_MK7 - 0649d406184b7131/000005e6--4a6c6df04e/20: Traceback (most recent call last): ERROR VOLKSWAGEN_JETTA_MK7 - 441fe45faab534b3/000000c1--321f669d72/7: Traceback (most recent call last): ERROR VOLKSWAGEN_JETTA_MK7 - 0649d406184b7131/00000594--2f25a17f9a/16: Traceback (most recent call last): ERROR VOLKSWAGEN_JETTA_MK7 - 8b210652a0ab3623/0000010b--7c537cf047/14: Traceback (most recent call last): ERROR VOLKSWAGEN_JETTA_MK7 - 0649d406184b7131/00000588--d4b35a8250/44: Traceback (most recent call last): ERROR VOLKSWAGEN_JETTA_MK7 - 828d6e91eaa03dfa/0000066e--eeeb26c111/12: Traceback (most recent call last): ERROR VOLKSWAGEN_PASSAT_MK8 - 59658f79475526e4/000001fa--7e361975a6/70: Traceback (most recent call last): ERROR VOLKSWAGEN_PASSAT_MK8 - 0103d27571874eed/00000077--c018742252/52: Traceback (most recent call last): ERROR VOLKSWAGEN_PASSAT_MK8 - 4fe79f2046a49260/0000002f--fa963990e3/5: Traceback (most recent call last): ERROR VOLKSWAGEN_PASSAT_MK8 - 0103d27571874eed/00000010--12fa7a1942/10: Traceback (most recent call last): ERROR VOLKSWAGEN_PASSAT_MK8 - 4fe79f2046a49260/00000006--468d790fb4/7: Traceback (most recent call last): ERROR VOLKSWAGEN_PASSAT_MK8 - 59658f79475526e4/00000202--92b2e84179/7: Traceback (most recent call last): ERROR VOLKSWAGEN_PASSAT_MK8 - 5405cac0c9d58c3d/000003f1--6c21572fe6/14: Traceback (most recent call last): ERROR VOLKSWAGEN_PASSAT_MK8 - 9d09cc205c254c4b/00000022--990546a23f/39: Traceback (most recent call last): ERROR VOLKSWAGEN_PASSAT_MK8 - 5405cac0c9d58c3d/000003a4--229b46e27f/7: Traceback (most recent call last): ERROR VOLKSWAGEN_PASSAT_MK8 - b41274022cba7ee0/00000076--08f608d3f8/59: Traceback (most recent call last): ERROR VOLKSWAGEN_POLO_MK6 - 0bbe367c98fa1538/00000003--485303fac0/13: Traceback (most recent call last): ERROR VOLKSWAGEN_POLO_MK6 - 0bbe367c98fa1538/00000002--c8ed51f9a0/25: Traceback (most recent call last): ERROR VOLKSWAGEN_POLO_MK6 - 0bbe367c98fa1538/00000003--485303fac0/10: Traceback (most recent call last): ERROR VOLKSWAGEN_POLO_MK6 - 0bbe367c98fa1538/00000000--54c49b9dfa/13: Traceback (most recent call last): ERROR VOLKSWAGEN_POLO_MK6 - 0bbe367c98fa1538/0000000c--87f59d3f7d/2: Traceback (most recent call last): ERROR VOLKSWAGEN_POLO_MK6 - 0bbe367c98fa1538/00000000--54c49b9dfa/10: Traceback (most recent call last): ERROR VOLKSWAGEN_POLO_MK6 - 0bbe367c98fa1538/00000003--485303fac0/7: Traceback (most recent call last): ERROR VOLKSWAGEN_POLO_MK6 - 0bbe367c98fa1538/00000002--c8ed51f9a0/24: Traceback (most recent call last): ERROR VOLKSWAGEN_POLO_MK6 - 0bbe367c98fa1538/00000000--54c49b9dfa/16: Traceback (most recent call last): ERROR VOLKSWAGEN_POLO_MK6 - 0bbe367c98fa1538/00000001--ae3bb2a71b/7: Traceback (most recent call last): ERROR VOLKSWAGEN_TAOS_MK1 - d4ac5d022cd5177d/0000000d--37800c9aa2/9: Traceback (most recent call last): ERROR VOLKSWAGEN_TAOS_MK1 - d4ac5d022cd5177d/0000000e--0ae08adb7d/2: Traceback (most recent call last): ERROR VOLKSWAGEN_TAOS_MK1 - d4ac5d022cd5177d/00000018--6d2378df21/10: Traceback (most recent call last): ERROR VOLKSWAGEN_TAOS_MK1 - d4ac5d022cd5177d/00000014--1e26ee8dc2/21: Traceback (most recent call last): ERROR VOLKSWAGEN_TAOS_MK1 - d4ac5d022cd5177d/00000009--ee3c1f04d2/0: Traceback (most recent call last): ERROR VOLKSWAGEN_TAOS_MK1 - b483bc597c541ea1/00000000--dab01a6e6f/10: Traceback (most recent call last): ERROR VOLKSWAGEN_TAOS_MK1 - d4ac5d022cd5177d/00000015--af35ddc8ba/16: Traceback (most recent call last): ERROR VOLKSWAGEN_TAOS_MK1 - d4ac5d022cd5177d/0000000c--55b6e58612/8: Traceback (most recent call last): ERROR VOLKSWAGEN_TAOS_MK1 - d4ac5d022cd5177d/0000003a--b1dd66f35d/23: Traceback (most recent call last): ERROR VOLKSWAGEN_TAOS_MK1 - d4ac5d022cd5177d/00000036--cee4d5a8e5/29: Traceback (most recent call last): ERROR VOLKSWAGEN_TIGUAN_MK2 - 16c8c6b5e39b4127/00000022--b07c417f97/133: Traceback (most recent call last): ERROR VOLKSWAGEN_TIGUAN_MK2 - 47f804013101f749/00000017--b0b6d7a9c2/103: Traceback (most recent call last): ERROR VOLKSWAGEN_TIGUAN_MK2 - 2f5e404582eee907/0000004f--76fe6658fe/28: Traceback (most recent call last): ERROR VOLKSWAGEN_TIGUAN_MK2 - 5060ffe331844ff1/00000074--b3d8d3b56c/10: Traceback (most recent call last): ERROR VOLKSWAGEN_TIGUAN_MK2 - d5eb604aa6ae46b7/00000212--60c9c9de09/13: Traceback (most recent call last): ERROR VOLKSWAGEN_TIGUAN_MK2 - 47f804013101f749/0000000f--0b6b5156a5/24: Traceback (most recent call last): ERROR VOLKSWAGEN_TIGUAN_MK2 - 6cf39405c10d7515/00000010--299b60e495/2: Traceback (most recent call last): ERROR VOLKSWAGEN_TIGUAN_MK2 - f3946aa3bdb4bfc7/00000051--8cf4d25730/11: Traceback (most recent call last): ERROR VOLKSWAGEN_TIGUAN_MK2 - ad5efcc390e8d37e/00000204--3ceb00e887/10: Traceback (most recent call last): ERROR VOLKSWAGEN_TIGUAN_MK2 - 1b41980e9972d348/00000039--c6efbd94fa/14: Traceback (most recent call last): ERROR VOLKSWAGEN_TOURAN_MK2 - 3679f05f18c19342/000000cc--e5aa6142ea/5: Traceback (most recent call last): ERROR VOLKSWAGEN_TOURAN_MK2 - 3679f05f18c19342/000000cc--e5aa6142ea/16: Traceback (most recent call last): ERROR VOLKSWAGEN_TOURAN_MK2 - 3679f05f18c19342/0000006b--5d59cbe061/30: Traceback (most recent call last): ERROR VOLKSWAGEN_TOURAN_MK2 - 3679f05f18c19342/000000d2--702d92e184/10: Traceback (most recent call last): ERROR VOLKSWAGEN_TOURAN_MK2 - 3679f05f18c19342/000000cc--e5aa6142ea/15: Traceback (most recent call last): ERROR VOLKSWAGEN_TOURAN_MK2 - 3679f05f18c19342/000000cc--e5aa6142ea/18: Traceback (most recent call last): ERROR VOLKSWAGEN_TOURAN_MK2 - 3679f05f18c19342/000000cc--e5aa6142ea/20: Traceback (most recent call last): ERROR VOLKSWAGEN_TOURAN_MK2 - 3679f05f18c19342/0000001c--488be35569/9: Traceback (most recent call last): ERROR VOLKSWAGEN_TOURAN_MK2 - 3679f05f18c19342/000000cc--e5aa6142ea/1: Traceback (most recent call last): ERROR VOLKSWAGEN_TOURAN_MK2 - 3679f05f18c19342/0000001b--e6283e52fc/62: Traceback (most recent call last): ERROR VOLKSWAGEN_TRANSPORTER_T61 - 9e7b03d47798346e/000007b9--ac3df41ca1/8: Traceback (most recent call last): ERROR VOLKSWAGEN_TRANSPORTER_T61 - 9e7b03d47798346e/000006fe--3285331096/9: Traceback (most recent call last): ERROR VOLKSWAGEN_TRANSPORTER_T61 - 9e7b03d47798346e/00000781--192e1bb53c/11: Traceback (most recent call last): ERROR VOLKSWAGEN_TRANSPORTER_T61 - 9e7b03d47798346e/000006d9--557e1136f2/13: Traceback (most recent call last): ERROR VOLKSWAGEN_TRANSPORTER_T61 - 9e7b03d47798346e/000005f1--dba3261e44/12: Traceback (most recent call last): ERROR VOLKSWAGEN_TRANSPORTER_T61 - 609fec7985748570/00000064--0799c3790f/25: Traceback (most recent call last): ERROR VOLKSWAGEN_TRANSPORTER_T61 - 609fec7985748570/00000019--eb5864c0c8/20: Traceback (most recent call last): ERROR VOLKSWAGEN_TRANSPORTER_T61 - 9e7b03d47798346e/000006b8--9b7dd48854/5: Traceback (most recent call last): ERROR VOLKSWAGEN_TRANSPORTER_T61 - 9e7b03d47798346e/000007ab--a058fe31ee/9: Traceback (most recent call last): ERROR VOLKSWAGEN_TRANSPORTER_T61 - 609fec7985748570/00000019--eb5864c0c8/25: Traceback (most recent call last): ERROR VOLKSWAGEN_TROC_MK1 - 6855c8fea89cba72/000000ef--f9eaf18091/28: Traceback (most recent call last): ERROR VOLKSWAGEN_TROC_MK1 - 0b0946cdf6214d4e/00000003--68f7d0b088/1: Traceback (most recent call last): ERROR VOLKSWAGEN_TROC_MK1 - 0b0946cdf6214d4e/0000001f--ad80e46f31/6: Traceback (most recent call last): ERROR VOLKSWAGEN_TROC_MK1 - 0b0946cdf6214d4e/00000037--d6ad3ba46e/28: Traceback (most recent call last): ERROR VOLKSWAGEN_TROC_MK1 - 6855c8fea89cba72/000000e7--6cb4d46a4f/15: Traceback (most recent call last): ERROR VOLKSWAGEN_TROC_MK1 - 6855c8fea89cba72/000000bd--d10c900609/11: Traceback (most recent call last): ERROR VOLKSWAGEN_TROC_MK1 - 1695f1ce3d6ab57a/00000067--b2f13e415b/39: Traceback (most recent call last): ERROR VOLKSWAGEN_TROC_MK1 - 1695f1ce3d6ab57a/0000006b--6c20501e6e/12: Traceback (most recent call last): ERROR VOLKSWAGEN_TROC_MK1 - 1695f1ce3d6ab57a/00000000--a1574b918e/4: Traceback (most recent call last): ERROR VOLKSWAGEN_TROC_MK1 - 1695f1ce3d6ab57a/00000115--407ab0834c/63: Traceback (most recent call last): Show changes |
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