From 5ae27a002562e52e2440aeda3b3a5957bd50eead Mon Sep 17 00:00:00 2001 From: Jason Young Date: Thu, 13 Oct 2022 12:16:56 -0400 Subject: [PATCH] updated comments --- selfdrive/car/volkswagen/mqbcan.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/volkswagen/mqbcan.py b/selfdrive/car/volkswagen/mqbcan.py index ee4240e8d..25a710dbb 100644 --- a/selfdrive/car/volkswagen/mqbcan.py +++ b/selfdrive/car/volkswagen/mqbcan.py @@ -66,8 +66,8 @@ def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control, "ACC_Sollbeschleunigung_02": accel if enabled else 3.01, "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_neg_Sollbeschl_Grad_02": 4.0 if enabled else 0, # TODO: dynamic adjustment of jerk limits + "ACC_pos_Sollbeschl_Grad_02": 4.0 if enabled else 0, # TODO: dynamic adjustment of jerk limits "ACC_Anfahren": starting, "ACC_Anhalten": stopping, } @@ -83,9 +83,9 @@ def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control, acc_hold_type = 0 acc_07_values = { - "ACC_Anhalteweg": 0.75 if stopping else 20.46, # Distance to stop + "ACC_Anhalteweg": 0.75 if stopping else 20.46, # Distance to stop (stopping coordinator handles terminal roll-out) "ACC_Freilauf_Info": 2 if enabled else 0, - "ACC_Folgebeschl": 3.02, # not using this unless and until we understand its impact + "ACC_Folgebeschl": 3.02, # Not using secondary controller accel unless and until we understand its impact "ACC_Sollbeschleunigung_02": accel if enabled else 3.01, "ACC_Anforderung_HMS": acc_hold_type, "ACC_Anfahren": starting,