From 0907a845dd0e6d65fb75fbaf47cc4ee3a475c490 Mon Sep 17 00:00:00 2001 From: Jason Young Date: Mon, 22 Nov 2021 03:32:54 -0500 Subject: [PATCH] tweaks and comments --- selfdrive/car/volkswagen/carcontroller.py | 14 +++++++------- selfdrive/car/volkswagen/interface.py | 1 + 2 files changed, 8 insertions(+), 7 deletions(-) diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index ad8098722d..2f6db3eb3a 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -41,25 +41,25 @@ class CarController(): acc_status = CS.tsk_status accel = actuators.accel if enabled else 0 - accel = clip(accel, P.ACCEL_MIN, P.ACCEL_MAX) if enabled else 0 + # FIXME: this needs to become a proper state machine acc_hold_request, acc_hold_release = False, False if actuators.longControlState == LongCtrlState.stopping: - accel = -1.0 self.acc_stopping = True - acc_hold_request = not CS.esp_hold_confirmation + acc_hold_request = not CS.esp_hold_confirmation # Send hold request for ABS/ESP brake-hold until acked elif enabled: if self.acc_stopping: self.acc_starting = True self.acc_stopping = False - self.acc_starting &= CS.out.vEgo < 0.2 - acc_hold_release = CS.esp_hold_confirmation + self.acc_starting &= CS.out.vEgo < CS.CP.vEgoStarting + acc_hold_release = CS.esp_hold_confirmation # Send release request for ABS/ESP brake-hold until acked else: self.acc_stopping, self.acc_starting = False, False - cb_pos = 0.0 if lead_visible else 0.1 - cb_neg = 0.1 + # Hopefully, have PI yank the lag out and let the drivetrain coordinator make it smooth again + cb_pos = 0.2 + cb_neg = 0.2 if acc_hold_request: weird_value = 0x88 diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index 7eb806c2c8..a4af5cb541 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -72,6 +72,7 @@ class CarInterface(CarInterfaceBase): ret.longitudinalActuatorDelayUpperBound = 1.0 # s ret.stoppingControl = True ret.vEgoStopping = 0.3 + ret.vEgoStarting = 0.3 #ret.stopAccel = 0.0 #ret.startAccel = 0.0 ret.longitudinalTuning.kpV = [0.3]