VW: update variable name

* change from ratelimit to jerklimit
dkiiv · Nov 8, 2024 · 3c2ad0b · 3c2ad0b
1 parent ccf480b
commit 3c2ad0b
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
@@ -41,7 +41,7 @@ def __init__(self, dbc_name, CP, VM):
     self.EPB_counter = 0
     self.accel_diff = 0
     self.long_deviation = 0
-    self.long_ratelimit = 0
+    self.long_jerklimit = 0
 
     self.sm = messaging.SubMaster(['longitudinalPlanSP'])
     self.param_s = Params()
@@ -159,14 +159,14 @@ def update(self, CC, CS, now_nanos):
                                                                             # SMA to EMA conversion: alpha = 2 / (n + 1)    n = SMA-sample
       self.accel_diff = (0.0019 * (accel - self.accel_last)) + (1 - 0.0019) * self.accel_diff         # 1000 SMA equivalence
       self.long_deviation = interp(abs(accel - self.accel_diff), [0, .2, .3], [.13, .1, 0])           # floating comfort band calculation
-      self.long_ratelimit = (0.007 * (clip(abs(accel), 0.7, 3))) + (1 - 0.007) * self.long_ratelimit  # set jerk/rate limit based on accel
+      self.long_jerklimit = (0.007 * (clip(abs(accel), 0.7, 3))) + (1 - 0.007) * self.long_jerklimit  # set jerk limit based on accel
 
       if self.CCS == pqcan and CC.longActive and actuators.accel <= 0 and CS.out.vEgoRaw <= 5:
         if not self.EPB_enable:
           self.EPB_counter = 0  # Reset frame counter when EPB_enable is first activated
           self.EPB_brake = 0
         else:
-          self.EPB_brake = limit_jerk(accel, self.EPB_brake_last, self.long_ratelimit, 0.02)  # 0.02 = 50hz
+          self.EPB_brake = limit_jerk(accel, self.EPB_brake_last, self.long_jerklimit, 0.02)  # 0.02 = 50hz
           self.EPB_brake_last = self.EPB_brake
           self.EPB_enable = 1
       else:
@@ -188,7 +188,7 @@ def update(self, CC, CS, now_nanos):
         can_sends.append(self.CCS.create_epb_control(self.packer_pt, CANBUS.br, self.EPB_brake, self.EPB_enable))
       can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, CANBUS.pt, CS.acc_type, accel,
                                                          acc_control, stopping, starting, CS.esp_hold_confirmation,
-                                                         self.long_deviation, self.long_ratelimit))
+                                                         self.long_deviation, self.long_jerklimit))
 
     # **** HUD Controls ***************************************************** #