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VW MQB: Volkswagen T-Roc Mk1 #22967

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Nov 18, 2021
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VW MQB: Volkswagen T-Roc Mk1 #22967

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1 change: 1 addition & 0 deletions RELEASES.md
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
Version 0.8.12 (202X-XX-XX)
========================
* Volkswagen T-Roc 2021 support thanks to jyoung8607!

Version 0.8.11 (2021-11-22)
========================
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1 change: 1 addition & 0 deletions docs/CARS.md
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Expand Up @@ -162,6 +162,7 @@
| Volkswagen| Passat 2016-18<sup>3</sup> | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| Polo 2020 | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| T-Cross 2021<sup>4</sup> | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| T-Roc 2021<sup>4</sup> | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| Taos 2022<sup>4</sup> | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| Tiguan 2020 | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| Touran 2017 | Driver Assistance | Stock | 0mph | 0mph |
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4 changes: 4 additions & 0 deletions selfdrive/car/volkswagen/interface.py
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Expand Up @@ -103,6 +103,10 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
ret.wheelbase = 3.00 # SWB, LWB is 3.40, TBD how to detect difference
ret.minSteerSpeed = 14.0

elif candidate == CAR.TROC_MK1:
ret.mass = 1413 + STD_CARGO_KG
ret.wheelbase = 2.63

elif candidate == CAR.AUDI_A3_MK3:
ret.mass = 1335 + STD_CARGO_KG
ret.wheelbase = 2.61
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18 changes: 18 additions & 0 deletions selfdrive/car/volkswagen/values.py
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Expand Up @@ -76,6 +76,7 @@ class CAR:
TIGUAN_MK2 = "VOLKSWAGEN TIGUAN 2ND GEN" # Chassis AD/BW, Mk2 VW Tiguan and variants
TOURAN_MK2 = "VOLKSWAGEN TOURAN 2ND GEN" # Chassis 1T, Mk2 VW Touran and variants
TRANSPORTER_T61 = "VOLKSWAGEN TRANSPORTER T6.1" # Chassis 7H/7L, T6-facelift Transporter/Multivan/Caravelle/California
TROC_MK1 = "VOLKSWAGEN T-ROC 1ST GEN" # Chassis A1, Mk1 VW VW T-Roc and variants
AUDI_A3_MK3 = "AUDI A3 3RD GEN" # Chassis 8V/FF, Mk3 Audi A3 and variants
AUDI_Q2_MK1 = "AUDI Q2 1ST GEN" # Chassis GA, Mk1 Audi Q2 (RoW) and Q2L (China only)
SEAT_ATECA_MK1 = "SEAT ATECA 1ST GEN" # Chassis 5F, Mk1 SEAT Ateca and CUPRA Ateca
Expand Down Expand Up @@ -467,6 +468,23 @@ class CAR:
b'\xf1\x872Q0907572R \xf1\x890372',
],
},
CAR.TROC_MK1: {
(Ecu.engine, 0x7e0, None): [
b'\xf1\x8705E906018AT\xf1\x899640',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x870CW300051M \xf1\x891925',
],
(Ecu.srs, 0x715, None): [
b'\xf1\x875Q0959655CG\xf1\x890421\xf1\x82\x13111100123333003142404M1152119333613100',
],
(Ecu.eps, 0x712, None): [
b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521060405A1',
],
(Ecu.fwdRadar, 0x757, None): [
b'\xf1\x872Q0907572T \xf1\x890383',
],
},
CAR.AUDI_A3_MK3: {
(Ecu.engine, 0x7e0, None): [
b'\xf1\x8704E906023AN\xf1\x893695',
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1 change: 1 addition & 0 deletions selfdrive/test/test_routes.py
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Expand Up @@ -150,6 +150,7 @@
TestRoute("2cef8a0b898f331a|2021-03-25--20-13-57", VOLKSWAGEN.TIGUAN_MK2),
TestRoute("a589dcc642fdb10a|2021-06-14--20-54-26", VOLKSWAGEN.TOURAN_MK2),
TestRoute("a459f4556782eba1|2021-09-19--09-48-00", VOLKSWAGEN.TRANSPORTER_T61),
TestRoute("0cd0b7f7e31a3853|2021-11-18--00-38-32", VOLKSWAGEN.TROC_MK1),
TestRoute("07667b885add75fd|2021-01-23--19-48-42", VOLKSWAGEN.AUDI_A3_MK3),
TestRoute("6c6b466346192818|2021-06-06--14-17-47", VOLKSWAGEN.AUDI_Q2_MK1),
TestRoute("8f205bdd11bcbb65|2021-03-26--01-00-17", VOLKSWAGEN.SEAT_ATECA_MK1),
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