From 34b52f54814e4308d2ed7269eab53a592390c7bd Mon Sep 17 00:00:00 2001 From: Jason Young Date: Tue, 23 Nov 2021 01:23:30 -0500 Subject: [PATCH] tuning --- selfdrive/car/volkswagen/carcontroller.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index 3f22a32291..8994ac2dd2 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -59,8 +59,8 @@ class CarController(): self.acc_stopping, self.acc_starting = False, False # Hopefully, have PI yank the lag out and let the drivetrain coordinator make it smooth again - cb_pos = 0.2 - cb_neg = 0.2 + cb_pos = 0.0 if lead_visible or CS.out.vEgo < 2.0 else 0.2 # react faster to lead cars, also don't get hung up at DSG clutch release/kiss points when creeping to stop + cb_neg = 0.0 if accel < 0 else 0.2 # IDK why, but stock likes to zero this out when accel is negative if acc_hold_request: weird_value = 0x88