Tweak high speed kpV and kiV

dkiiv · Nov 29, 2024 · cce448a · cce448a
1 parent fe6c7fd
commit cce448a
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
@@ -72,10 +72,10 @@ def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, doc
     if ret.flags & VolkswagenFlags.PQ:
       ret.steerActuatorDelay = 0.11
       ret.longitudinalTuning.kf = 1.2
-      ret.longitudinalTuning.kpBP = [0.,  11,  22, 33]
-      ret.longitudinalTuning.kpV =  [0., .38, .38, .3]
-      ret.longitudinalTuning.kiBP = [0.,  11,  22, 33]
-      ret.longitudinalTuning.kiV =  [.6, .65, .65, .6]
+      ret.longitudinalTuning.kpBP = [0.,  11,  22,  33]
+      ret.longitudinalTuning.kpV =  [0., .38, .38, .38]
+      ret.longitudinalTuning.kiBP = [0.,  11,  22,  33]
+      ret.longitudinalTuning.kiV =  [.6, .65, .65, .65]
       ret.longitudinalActuatorDelay = 0.6
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     else: