VW PQ: reintroduce kiv, nuke regelabw for now

dkiiv · Nov 21, 2024 · 57d9bd6 · 57d9bd6
1 parent bbf7d08
commit 57d9bd6
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
@@ -159,7 +159,7 @@ 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_jerklimit = (0.01 * (clip(abs(accel), 0.7, 2))) + (1 - 0.01) * self.long_jerklimit    # set jerk limit based on accel
-      self.long_deviation = clip(CS.out.vEgo/40, 0, 0.13) * interp(abs(accel - self.accel_diff), [0, .2, 1.], [1.0, 1.0, 0.0])
+      self.long_deviation = clip(CS.out.vEgo/40, 0, 0.13) * interp(abs(accel - self.accel_diff), [0, .2, 1.], [0.0, 0.0, 0.0])
 
       if self.CCS == pqcan and CC.longActive and actuators.accel <= 0 and CS.out.vEgoRaw <= 5:
         if not self.EPB_enable:  # first frame of EPB entry

diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
@@ -75,7 +75,7 @@ def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, doc
       ret.longitudinalTuning.kpBP = [0.]
       ret.longitudinalTuning.kpV = [0.2]
       ret.longitudinalTuning.kiBP = [0.]
-      ret.longitudinalTuning.kiV = [0.]
+      ret.longitudinalTuning.kiV = [0.1]
       ret.longitudinalActuatorDelay = 0.6
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     else: