VW MQB: Fix for rare autoresume problems #22176
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Description
On rare occasions, some MQBs would cancel ACC and set the parking brake at the moment they reached a stop, or increase the ACC setpoint by one or two increments when taking off from a stop. Some cars were experiencing this more than others.
Stock ACC doesn't care for resume-spamming at the precise moment it enters or exits its stopped state. Correct this by learning CarState.standstill from the ESP hydraulic hold confirmation signal instead of guessing from
vEgoRaw < 0.1.Verification
Some community users actually found and tested this fix, and it's been running in my community fork for a couple weeks.
Route
Route:
3cfdec54aa035f3f|2021-09-09--13-10-51