From cce448a02271efc47c5f50707a4fa84583f720f8 Mon Sep 17 00:00:00 2001 From: dkiiv Date: Fri, 29 Nov 2024 07:54:32 -0500 Subject: [PATCH] Tweak high speed kpV and kiV --- selfdrive/car/volkswagen/interface.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index d01ef85c6e9d0f..26015b0282a6ff 100644 --- 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: