From 9bf269d62196cb8e7178ebff073c5b227367a407 Mon Sep 17 00:00:00 2001 From: actuallylemoncurd Date: Tue, 8 Oct 2024 20:22:36 -0400 Subject: [PATCH] VW PQ: OP long sanity check --- selfdrive/car/volkswagen/carcontroller.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index e05b18c909d1cf..6d7bde04c4ad49 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -34,7 +34,7 @@ def __init__(self, dbc_name, CP, VM): self.deviationBP = [-0.16, -0.13, -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., 2., 0.75, 0.50] # jerk-limits (m/s squared) + self.ratelimitV = [4., 4., 4., 4.] # 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