VW PQ: update car API and PIF

dkiiv · Nov 11, 2024 · 55ec0fa · 55ec0fa
1 parent a2948f4
commit 55ec0fa
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
@@ -158,15 +158,15 @@ def update(self, CC, CS, now_nanos):
       accel = clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0
                                                                             # 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], [.2, .15, 0])           # floating comfort band calculation
+      self.long_deviation = interp(abs(accel - self.accel_diff), [0, .3, .4], [.2, .2, 0])            # floating comfort band calculation
       self.long_jerklimit = (0.007 * (clip(abs(accel), 0.7, 2))) + (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_jerklimit, 0.02)  # 0.02 = 50hz
+          self.EPB_brake = limit_jerk(accel, self.EPB_brake_last, 0.7, 0.01)
           self.EPB_brake_last = self.EPB_brake
         self.EPB_enable = 1
       else:

diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
@@ -74,8 +74,8 @@ def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, doc
       ret.longitudinalTuning.kf = 1.
       ret.longitudinalTuning.kpBP = [0.]
       ret.longitudinalTuning.kpV = [0.]
-      ret.longitudinalTuning.kiBP = [0., 22, 35]
-      ret.longitudinalTuning.kiV = [2.8, 2., 1.9]
+      ret.longitudinalTuning.kiBP = [0., 11, 22, 35]
+      ret.longitudinalTuning.kiV = [3.2, 2.3, 2., 1.9]
       ret.longitudinalActuatorDelay = 0.6
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     else: