VW PQ: bugfixing AWV controls

* make halten latch * fix ramping?
dkiiv · Nov 2, 2024 · e980ccd · e980ccd
1 parent 978d14b
commit e980ccd
Showing 1 changed file with 5 additions and 2 deletions.
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
@@ -159,14 +159,17 @@ def update(self, CC, CS, now_nanos):
         accel = clip(actuators.accel, self.CCP.ACCEL_MIN, 0)
         self.AWV_enable = 1
         if self.AWV_halten:
-          self.AWV_brake *= max(0, CS.out.vEgo / 1.5)
+          self.AWV_brake = min(self.AWV_brake + abs(self.AWV_brake) / 7, 0)
         else:
           self.AWV_brake = clip(actuators.accel, self.CCP.ACCEL_MIN, 0)
       else:
         accel = clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0
         self.AWV_enable = 0 if CS.out.vEgoRaw >= 6 else self.AWV_enable
         self.AWV_brake = 0
-      self.AWV_halten = 1 if CS.out.vEgoRaw <= 3 and self.AWV_enable else 0
+      if self.AWV_enable and CS.out.vEgoRaw <= 3:
+          self.AWV_halten = 1
+      elif CS.out.vEgoRaw >= 4 or not self.AWV_enable:
+          self.AWV_halten = 0
       self.long_deviation = 0  # TODO: make dynamic again
       self.long_ratelimit = 4  # TODO: make dynamic again