From 4ed64233b9aff1fd848472e29f65c777ec53d074 Mon Sep 17 00:00:00 2001 From: Jason Young Date: Tue, 13 Sep 2022 21:04:04 -0400 Subject: [PATCH] cleanup, drives somewhat better --- selfdrive/car/volkswagen/interface.py | 6 ++---- selfdrive/car/volkswagen/mqbcan.py | 12 ++++++------ selfdrive/car/volkswagen/pqcan.py | 4 +++- 3 files changed, 11 insertions(+), 11 deletions(-) diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index 1b8b197a1..81b22f969 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -92,10 +92,8 @@ class CarInterface(CarInterfaceBase): ret.stoppingControl = True ret.startingState = True ret.startAccel = 1.0 - ret.vEgoStarting = 0.5 - ret.vEgoStopping = 0.5 - ret.longitudinalTuning.kpV = [0.5] - ret.longitudinalTuning.kiV = [0.0] + ret.vEgoStarting = 1.0 + ret.vEgoStopping = 1.0 # Per-chassis tuning values, override tuning defaults here if desired diff --git a/selfdrive/car/volkswagen/mqbcan.py b/selfdrive/car/volkswagen/mqbcan.py index a725baa0e..e3a1e14a7 100644 --- a/selfdrive/car/volkswagen/mqbcan.py +++ b/selfdrive/car/volkswagen/mqbcan.py @@ -68,12 +68,12 @@ def create_acc_accel_control(packer, bus, enabled, acc_status, accel, stopping, commands = [] acc_06_values = { - "ACC_Typ": 2, # FIXME: require SnG during refactoring, re-enable FtS later + "ACC_Typ": 2, # TODO: fixed requirement for SnG stopping coordinator, allow FtS and basic later "ACC_Status_ACC": acc_status, "ACC_StartStopp_Info": enabled, "ACC_Sollbeschleunigung_02": accel if enabled else 3.01, - "ACC_zul_Regelabw_unten": 0.5, # FIXME: reintroduce comfort band support - "ACC_zul_Regelabw_oben": 0.5, # FIXME: reintroduce comfort band support + "ACC_zul_Regelabw_unten": 0.2, # TODO: dynamic adjustment of comfort-band + "ACC_zul_Regelabw_oben": 0.2, # TODO: dynamic adjustment of comfort-band "ACC_neg_Sollbeschl_Grad_02": 4.0 if enabled else 0, "ACC_pos_Sollbeschl_Grad_02": 4.0 if enabled else 0, "ACC_Anfahren": starting, @@ -86,12 +86,12 @@ def create_acc_accel_control(packer, bus, enabled, acc_status, accel, stopping, elif standstill: acc_hold_type = 3 # hold standby elif stopping: - acc_hold_type = 1 # hold + acc_hold_type = 1 # hold request else: acc_hold_type = 0 acc_07_values = { - "ACC_Distance_to_Stop": 1.0 if stopping else 20.46, + "ACC_Distance_to_Stop": 0.75 if stopping else 20.46, "ACC_Hold_Request": stopping, "ACC_Freewheel_Type": 2 if enabled else 0, "ACC_Hold_Type": acc_hold_type, @@ -112,8 +112,8 @@ def create_acc_hud_control(packer, bus, acc_hud_status, set_speed): "ACC_Wunschgeschw": set_speed if set_speed < 250 else 327.36, "ACC_Gesetzte_Zeitluecke": 3, "ACC_Display_Prio": 3, + # TODO: ACC_Abstandsindex for lead car distance, must determine analog vs digital cluster for scaling } - # TODO: ACC_Abstandsindex for lead car distance, must determine analog vs digital cluster for scaling commands.append(packer.make_can_msg("ACC_02", bus, acc_02_values)) return commands diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py index 51477d39e..8a711e703 100644 --- a/selfdrive/car/volkswagen/pqcan.py +++ b/selfdrive/car/volkswagen/pqcan.py @@ -77,7 +77,9 @@ def create_acc_hud_control(packer, bus, acc_hud_status, set_speed): "ACA_StaACC": acc_hud_status, "ACA_Zeitluecke": 2, "ACA_V_Wunsch": set_speed, + # TODO: ACA_gemZeitl, ACA_ID_StaACC, ACA_AnzDisplay, ACA_kmh_mph, ACA_PrioDisp, ACA_Aend_Zeitluecke + # display/display-prio handling probably needed to stop confusing the instrument cluster + # kmh_mph handling probably needed to resolve rounding errors in displayed setpoint } - # TODO: ACA_gemZeitl, ACA_ID_StaACC, ACA_AnzDisplay, ACA_kmh_mph, ACA_PrioDisp, ACA_Aend_Zeitluecke return packer.make_can_msg("ACC_GRA_Anziege", bus, values)