VW PQ: restore EPB jerk setup, tweak PI for long

dkiiv · Nov 27, 2024 · 92fc6c1 · 92fc6c1
1 parent 652f163
commit 92fc6c1
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
@@ -165,7 +165,7 @@ def update(self, CC, CS, now_nanos):
         if not self.EPB_enable:  # first frame of EPB entry
           self.EPB_counter = 0
           self.EPB_brake = 0
-          self.EPB_brake_last = CS.aEgoBremse  # init EPB to the last value of ABS reported accel, not requested OP accel. prevents engagement jerk!
+          self.EPB_brake_last = accel - (CS.aEgoBremse / 2)
           self.EPB_enable = 1
         else:
           self.EPB_brake = limit_jerk(accel, self.EPB_brake_last, 0.7, 0.02)

diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
@@ -73,9 +73,9 @@ def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, doc
       ret.steerActuatorDelay = 0.11
       ret.longitudinalTuning.kf = 1.2
       ret.longitudinalTuning.kpBP = [0.]
-      ret.longitudinalTuning.kpV = [0.32]
+      ret.longitudinalTuning.kpV = [0.35]
       ret.longitudinalTuning.kiBP = [0.]
-      ret.longitudinalTuning.kiV = [0.58]
+      ret.longitudinalTuning.kiV = [0.6]
       ret.longitudinalActuatorDelay = 0.6
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     else: