From 5e05a8af9648a2215b8168af2b651fda331884ea Mon Sep 17 00:00:00 2001 From: Jason Young Date: Wed, 27 Apr 2022 22:54:30 -0400 Subject: [PATCH] tuning adjustments --- selfdrive/car/volkswagen/interface.py | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index 6d38ef4db..b53032169 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -68,12 +68,11 @@ class CarInterface(CarInterfaceBase): # Global longitudinal tuning defaults, can be overridden per-vehicle ret.pcmCruise = not ret.openpilotLongitudinalControl - ret.longitudinalActuatorDelayUpperBound = 0.3 # s + ret.longitudinalActuatorDelayUpperBound = 0.5 # s ret.stoppingControl = True - ret.vEgoStopping = 0.4 - ret.vEgoStarting = 0.5 + ret.vEgoStopping = 1.0 ret.stopAccel = -1.0 - ret.longitudinalTuning.kpV = [0.0] + ret.longitudinalTuning.kpV = [0.1] ret.longitudinalTuning.kiV = [0.0] # Per-chassis tuning values, override tuning defaults here if desired