VW PQ: update carAPI values

dkiiv · Oct 9, 2024 · 73f75c7 · 73f75c7
1 parent 1589316
commit 73f75c7
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
@@ -32,9 +32,9 @@ def __init__(self, dbc_name, CP, VM):
     self.accel_last = 0
 
     self.deviationBP = [-0.13, -0.1, -0.05, 0.]     # accel        (m/s squared)
-    self.deviationV = [0., 0.13, 0.25, 0.28]        # comfort-band (m/s squared)
-    self.rateLimitBP = [-0.5, -0.3, -0.1, 0.]       # accel        (m/s squared)
-    self.ratelimitV = [4., 2., 1.2, 1.]             # jerk-limits  (m/s squared)
+    self.deviationV = [0., 0.08, 0.14, 0.15]        # comfort-band (m/s squared)
+    self.rateLimitBP = [-0.3, -0.2, -0.1, 0.]       # accel        (m/s squared)
+    self.ratelimitV = [4., 2.5, 1.75, 1.5]          # jerk-limits  (m/s squared)
                                       # SMA to EMA conversion: alpha = 2 / (n + 1)    n = SMA-sample
     self.longSignalSmooth = 0.00995   # closer to 0 = more smoothing, 1 = no smoothing (eq = 200 SMA-sample)
     self.accel_diff_smoothed = 0