VW MQB: Emergency Assist mitigation

jyoung8607 · Dec 20, 2023 · a677fff · a677fff
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Showing 2 changed files with 14 additions and 8 deletions.
diff --git a/board/safety/safety_volkswagen_mqb.h b/board/safety/safety_volkswagen_mqb.h
@@ -34,8 +34,9 @@ const LongitudinalLimits VOLKSWAGEN_MQB_LONG_LIMITS = {
 #define MSG_LDW_02      0x397   // TX by OP, Lane line recognition and text alerts
 
 // Transmit of GRA_ACC_01 is allowed on bus 0 and 2 to keep compatibility with gateway and camera integration
-const CanMsg VOLKSWAGEN_MQB_STOCK_TX_MSGS[] = {{MSG_HCA_01, 0, 8}, {MSG_GRA_ACC_01, 0, 8}, {MSG_GRA_ACC_01, 2, 8}, {MSG_LDW_02, 0, 8}};
-const CanMsg VOLKSWAGEN_MQB_LONG_TX_MSGS[] = {{MSG_HCA_01, 0, 8}, {MSG_LDW_02, 0, 8},
+const CanMsg VOLKSWAGEN_MQB_STOCK_TX_MSGS[] = {{MSG_HCA_01, 0, 8}, {MSG_GRA_ACC_01, 0, 8}, {MSG_GRA_ACC_01, 2, 8},
+                                               {MSG_LDW_02, 0, 8}, {MSG_LH_EPS_03, 2, 8}};
+const CanMsg VOLKSWAGEN_MQB_LONG_TX_MSGS[] = {{MSG_HCA_01, 0, 8}, {MSG_LDW_02, 0, 8}, {MSG_LH_EPS_03, 2, 8},
                                               {MSG_ACC_02, 0, 8}, {MSG_ACC_06, 0, 8}, {MSG_ACC_07, 0, 8}};
 
 RxCheck volkswagen_mqb_rx_checks[] = {
@@ -254,8 +255,13 @@ static int volkswagen_mqb_fwd_hook(int bus_num, int addr) {
 
   switch (bus_num) {
     case 0:
-      // Forward all traffic from the Extended CAN onward
-      bus_fwd = 2;
+      if (addr == MSG_LH_EPS_03) {
+        // openpilot needs to replace apparent driver steering input torque to pacify VW Emergency Assist
+        bus_fwd = -1;
+      } else {
+        // Forward all remaining traffic from Extended CAN onward
+        bus_fwd = 2;
+      }
       break;
     case 2:
       if ((addr == MSG_HCA_01) || (addr == MSG_LDW_02)) {

diff --git a/tests/safety/test_volkswagen_mqb.py b/tests/safety/test_volkswagen_mqb.py
@@ -136,8 +136,8 @@ def test_torque_measurements(self):
 
 
 class TestVolkswagenMqbStockSafety(TestVolkswagenMqbSafety):
-  TX_MSGS = [[MSG_HCA_01, 0], [MSG_LDW_02, 0], [MSG_GRA_ACC_01, 0], [MSG_GRA_ACC_01, 2]]
-  FWD_BLACKLISTED_ADDRS = {2: [MSG_HCA_01, MSG_LDW_02]}
+  TX_MSGS = [[MSG_HCA_01, 0], [MSG_LDW_02, 0], [MSG_LH_EPS_03, 2], [MSG_GRA_ACC_01, 0], [MSG_GRA_ACC_01, 2]]
+  FWD_BLACKLISTED_ADDRS = {0: [MSG_LH_EPS_03], 2: [MSG_HCA_01, MSG_LDW_02]}
   FWD_BUS_LOOKUP = {0: 2, 2: 0}
 
   def setUp(self):
@@ -157,8 +157,8 @@ def test_spam_cancel_safety_check(self):
 
 
 class TestVolkswagenMqbLongSafety(TestVolkswagenMqbSafety):
-  TX_MSGS = [[MSG_HCA_01, 0], [MSG_LDW_02, 0], [MSG_ACC_02, 0], [MSG_ACC_06, 0], [MSG_ACC_07, 0]]
-  FWD_BLACKLISTED_ADDRS = {2: [MSG_HCA_01, MSG_LDW_02, MSG_ACC_02, MSG_ACC_06, MSG_ACC_07]}
+  TX_MSGS = [[MSG_HCA_01, 0], [MSG_LDW_02, 0], [MSG_LH_EPS_03, 2], [MSG_ACC_02, 0], [MSG_ACC_06, 0], [MSG_ACC_07, 0]]
+  FWD_BLACKLISTED_ADDRS = {0: [MSG_LH_EPS_03], 2: [MSG_HCA_01, MSG_LDW_02, MSG_ACC_02, MSG_ACC_06, MSG_ACC_07]}
   FWD_BUS_LOOKUP = {0: 2, 2: 0}
   INACTIVE_ACCEL = 3.01