From 2f8e0b677e62f8fd45bcbab24ea8a5bbf6cfbc21 Mon Sep 17 00:00:00 2001 From: Jason Young Date: Mon, 22 Nov 2021 22:08:17 -0500 Subject: [PATCH] hold my beer? --- selfdrive/car/volkswagen/interface.py | 12 +++++++----- 1 file changed, 7 insertions(+), 5 deletions(-) diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index bf4c42ef18..e88587337c 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -66,13 +66,15 @@ class CarInterface(CarInterfaceBase): # Global longitudinal tuning defaults, can be overridden per-vehicle ret.pcmCruise = not ret.openpilotLongitudinalControl + ret.longitudinalActuatorDelayLowerBound = 0.5 # s 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] + ret.vEgoStopping = 0.2 + ret.vEgoStarting = 0.2 + ret.stopAccel = 0.0 + ret.startAccel = 0.0 + ret.startingAccelRate = 6.0 + ret.longitudinalTuning.kpV = [0.1] ret.longitudinalTuning.kiV = [0.0] # Per-chassis tuning values, override tuning defaults here if desired