VW PQ: update carAPI signal

* decrease kpV back to 0.1 * sanity check RegelAbw, force to 0. affects integral for PIF? * interpolate AendGrad based on speed like RegelAbw
dkiiv · Oct 19, 2024 · bc94797 · bc94797
1 parent 2cd5a72
commit bc94797
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Showing 3 changed files with 4 additions and 3 deletions.
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
@@ -160,7 +160,8 @@ def update(self, CC, CS, now_nanos):
       ratelimit_lookup = interp(self.accel_diff_smoothed, self.rateLimitBP, self.ratelimitV)
       self.long_deviation = (0.019 * deviation_lookup) + (1 - 0.019) * getattr(self, 'long_deviation', 0)  # 100 SMA equivalence
       self.long_ratelimit = (0.007 * ratelimit_lookup) + (1 - 0.007) * getattr(self, 'long_ratelimit', 0)  # 250 SMA equivalence
-      self.long_deviation = self.long_deviation * interp(CS.out.vEgo, [0,4,7,8], [0,0,1,1])      # 1x - 0x interpolation for RegelAbw during FTS
+      self.long_deviation = self.long_deviation * interp(CS.out.vEgo, [0,4,7,8], [0,0,1,1])       #  1x - 0x interpolation for RegelAbw during FTS
+      self.long_ratelimit = self.long_ratelimit * interp(CS.out.vEgo, [0,1,27,28], [.1,.1,1,1])   # .1x - 1x interpolation for AendGrad during 0-100kph
       clip(self.long_deviation, self.deviationV[0], self.deviationV[3])
       clip(self.long_ratelimit, self.ratelimitV[3], self.ratelimitV[0])
       self.accel_last = self.accel_last if accel == self.CCP.ACCEL_MIN else accel

diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
@@ -73,7 +73,7 @@ def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, doc
       ret.steerActuatorDelay = 0.11
       ret.longitudinalTuning.kf = 1.
       ret.longitudinalTuning.kpBP = [0.]
-      ret.longitudinalTuning.kpV = [0.15]
+      ret.longitudinalTuning.kpV = [0.1]
       ret.longitudinalTuning.kiBP = [0.]
       ret.longitudinalTuning.kiV = [0.]
       ret.longitudinalActuatorDelay = 0.6

diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py
@@ -91,7 +91,7 @@ def create_acc_accel_control(packer, bus, acc_type, accel, acc_control, stopping
     "ACS_Anhaltewunsch": acc_type == 1 and stopping,
     "ACS_FreigSollB": acc_enabled,
     "ACS_Sollbeschl": accel if acc_enabled else 3.01,
-    "ACS_zul_Regelabw": comfortBand if acc_enabled else 1.27,
+    "ACS_zul_Regelabw": 0 if acc_enabled else 1.27,  # set to 0 for sanity check
     "ACS_max_AendGrad": jerkLimit if acc_enabled else 5.08,
   }