VW PQ: bugfix AWV ramp

* AWV_brake was reset every frame, no ramp occured. bug fix?
dkiiv · Nov 2, 2024 · 227d448 · 227d448
1 parent ac2d0ed
commit 227d448
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
@@ -158,7 +158,10 @@ def update(self, CC, CS, now_nanos):
       if self.CCS == pqcan and CC.longActive and actuators.accel <= 0 and CS.out.vEgoRaw <= 6:
         accel = clip(actuators.accel, self.CCP.ACCEL_MIN, 0)
         self.AWV_enable = 1
-        self.AWV_brake = clip(actuators.accel, self.CCP.ACCEL_MIN, 0) * (max(0, (CS.out.vEgo - 0.14) / 3) if self.AWV_halten else 1)
+        if self.AWV_halten:
+          self.AWV_brake *= max(0, CS.out.vEgo / 1.5)
+        else:
+          self.AWV_brake = clip(actuators.accel, self.CCP.ACCEL_MIN, 0)
       else:
         accel = clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0
         self.AWV_enable = 0 if CS.out.vEgoRaw >= 6 else self.AWV_enable