From 931e852bdac3276ab1842fa1bf92cba512ddd6b0 Mon Sep 17 00:00:00 2001 From: actuallylemoncurd Date: Wed, 9 Oct 2024 10:58:03 -0400 Subject: [PATCH] VW PQ: update long signal lookups * sanity check passed * bring dynamic AendGrad back, more ramp! --- selfdrive/car/volkswagen/carcontroller.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index 6d7bde04c4ad49..1435083757036f 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -31,10 +31,10 @@ def __init__(self, dbc_name, CP, VM): self.last_button_frame = 0 self.accel_last = 0 - self.deviationBP = [-0.16, -0.13, -0.05, 0.] # accel (m/s squared) + self.deviationBP = [-0.13, -0.1, -0.05, 0.] # accel (m/s squared) self.deviationV = [0., 0.08, 0.14, 0.15] # comfort-band (m/s squared) self.rateLimitBP = [-0.5, -0.3, -0.1, 0.] # accel (m/s squared) - self.ratelimitV = [4., 4., 4., 4.] # jerk-limits (m/s squared) + self.ratelimitV = [4., 2., 1.2, 1.] # 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