VW PQ: add OEM like OP long gasOverride

selfdrive/car/volkswagen/carcontroller.py

@@ -139,7 +139,7 @@ def update(self, CC, CS, now_nanos):
     # **** Acceleration Controls ******************************************** #
 
     if self.frame % self.CCP.ACC_CONTROL_STEP == 0 and self.CP.openpilotLongitudinalControl:
-      acc_control = self.CCS.acc_control_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
+      acc_control = self.CCS.acc_control_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive, CC.cruiseControl.override)
       accel = clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0
       stopping = actuators.longControlState == LongCtrlState.stopping
       starting = actuators.longControlState == LongCtrlState.pid and (CS.esp_hold_confirmation or CS.out.vEgo < self.CP.vEgoStopping)
@@ -159,7 +159,7 @@ def update(self, CC, CS, now_nanos):
       lead_distance = 0
       if hud_control.leadVisible and self.frame * DT_CTRL > 1.0:  # Don't display lead until we know the scaling factor
         lead_distance = 512 if CS.upscale_lead_car_signal else 8
-      acc_hud_status = self.CCS.acc_hud_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
+      acc_hud_status = self.CCS.acc_hud_status_value(CS.out.cruiseState.available, CS.out.accFaulted, acc_control, CC.cruiseControl.override)
       # FIXME: follow the recent displayed-speed updates, also use mph_kmh toggle to fix display rounding problem?
       set_speed = hud_control.setSpeed * CV.MS_TO_KPH
       can_sends.append(self.CCS.create_acc_hud_control(self.packer_pt, CANBUS.pt, acc_hud_status, set_speed,

selfdrive/car/volkswagen/pqcan.py

@@ -56,8 +56,8 @@ def create_acc_buttons_control(packer, bus, gra_stock_values, frame=0, buttons=0
   return packer.make_can_msg("GRA_Neu", bus, values)
 
 
-def acc_control_value(main_switch_on, acc_faulted, long_active):
-  if long_active:
+def acc_control_value(main_switch_on, acc_faulted, long_active, cruiseOverride):
+  if long_active or cruiseOverride:
     acc_control = 1
   elif main_switch_on:
     acc_control = 2
@@ -67,11 +67,11 @@ def acc_control_value(main_switch_on, acc_faulted, long_active):
   return acc_control
 
 
-def acc_hud_status_value(main_switch_on, acc_faulted, long_active):
+def acc_hud_status_value(main_switch_on, acc_faulted, acc_control, cruiseOverride):
   if acc_faulted:
     hud_status = 6
-  elif long_active:
-    hud_status = 3
+  elif acc_control == 1:
+    hud_status = 4 if cruiseOverride else 3
   elif main_switch_on:
     hud_status = 2
   else:
@@ -80,8 +80,9 @@ def acc_hud_status_value(main_switch_on, acc_faulted, long_active):
   return hud_status
 
 
-def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_control, stopping, starting, esp_hold):
+def create_acc_accel_control(packer, bus, acc_type, accel, acc_control, stopping, starting, esp_hold):
   commands = []
+  acc_enabled = 1 if acc_control == 1 else 0
 
   values = {
     "ACS_Sta_ADR": acc_control,