From f5b9f703df1c89f069dac04aa410ee7811942546 Mon Sep 17 00:00:00 2001 From: actuallylemoncurd Date: Thu, 31 Oct 2024 17:13:51 -0400 Subject: [PATCH] VW PQ: allow ACC decel while waiting for AWV to engage --- selfdrive/car/volkswagen/carcontroller.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index cc7e542876d2ed..deef4877933a93 100644 --- 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