cleanup, drives somewhat better

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.vEgoStarting = 1.0
-    ret.vEgoStopping = 0.5
+    ret.vEgoStopping = 1.0
-    ret.longitudinalTuning.kpV = [0.5]
-    ret.longitudinalTuning.kiV = [0.0]
 
     # Per-chassis tuning values, override tuning defaults here if desired
 

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_unten": 0.2,  # TODO: dynamic adjustment of comfort-band
-    "ACC_zul_Regelabw_oben": 0.5,  # FIXME: reintroduce comfort band support
+    "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
+  }
   commands.append(packer.make_can_msg("ACC_02", bus, acc_02_values))
 
   return commands

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
+  }
 
   return packer.make_can_msg("ACC_GRA_Anziege", bus, values)