VW PQ: Fix cruise fault detection, cleanup

Open jyoung8607 opened this issue 3 years ago • 0 comments

Description

Prep for PQ follow-to-stop support, with other minor cleanup.

Correctly parse Motor_2.GRA_Status into its enabled/fault states. Panda was already correct.
With the above fix, detect and surface drivetrain coordinator faults when using openpilot longitudinal.
Cleanup some leftover CAN state default values that were deprecated a long time ago.
Minor comment cleanup and whitespace realignment.

Verification

Examined a route where the drivetrain coordinator rejected basic ACC mode controls when it expected FtS mode.

Route

Route: 064d1816e448f8eb|2022-11-22--16-56-48

Nov 23 '22 20:11 jyoung8607