VW PQ: allow ACC decel while waiting for AWV to engage

dkiiv · Oct 31, 2024 · f5b9f70 · f5b9f70
1 parent f36b068
commit f5b9f70
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
@@ -156,7 +156,7 @@ def update(self, CC, CS, now_nanos):
       stopping = actuators.longControlState == LongCtrlState.stopping
       starting = actuators.longControlState == LongCtrlState.pid and (CS.esp_hold_confirmation or CS.out.vEgo < self.CP.vEgoStopping)
       if self.CCS == pqcan and CC.longActive and (clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) <= 0) and CS.out.vEgoRaw <= 6:
-        accel = 0
+        accel = clip(actuators.accel, self.CCP.ACCEL_MIN, 0) if self.AWV_counter <= 10 else 0
         self.AWV_enable = 1
         self.AWV_brake = clip(actuators.accel, self.CCP.ACCEL_MIN, 0) if self.AWV_counter >= 11 else 0
         self.AWV_counter += 1