jerk limiter not needed and causing problems

pull/23257/head
Jason Young 4 years ago
parent 1ef49cbf29
commit 5bcb448cfe
  1. 3
      selfdrive/car/volkswagen/carcontroller.py
  2. 6
      selfdrive/car/volkswagen/volkswagencan.py

@ -41,7 +41,6 @@ class CarController():
acc_status = CS.tsk_status
accel = clip(actuators.accel, P.ACCEL_MIN, P.ACCEL_MAX) if enabled else 0
jerk = clip(2.0 * abs(accel - CS.out.aEgo), -12.7, 12.7)
acc_hold_request, acc_hold_release = False, False
if actuators.longControlState == LongCtrlState.stopping:
@ -65,7 +64,7 @@ class CarController():
if frame % P.ACC_CONTROL_STEP == 0:
idx = (frame / P.ACC_CONTROL_STEP) % 16
can_sends.append(volkswagencan.create_mqb_acc_06_control(self.packer_pt, CANBUS.pt, enabled, acc_status,
accel, jerk, self.acc_stopping, self.acc_starting, idx))
accel, self.acc_stopping, self.acc_starting, idx))
can_sends.append(volkswagencan.create_mqb_acc_07_control(self.packer_pt, CANBUS.pt, enabled,
accel, self.acc_stopping, self.acc_starting,
acc_hold_request, acc_hold_release, weird_value, idx))

@ -48,7 +48,7 @@ def create_mqb_acc_buttons_control(packer, bus, buttonStatesToSend, CS, idx):
}
return packer.make_can_msg("GRA_ACC_01", bus, values, idx)
def create_mqb_acc_06_control(packer, bus, enabled, acc_status, accel, jerk, acc_stopping, acc_starting,
def create_mqb_acc_06_control(packer, bus, enabled, acc_status, accel, acc_stopping, acc_starting,
idx):
values = {
"ACC_Typ": 2, # FIXME: locked to stop and go, need to tweak for cars that only support follow-to-stop
@ -57,8 +57,8 @@ def create_mqb_acc_06_control(packer, bus, enabled, acc_status, accel, jerk, acc
"ACC_Sollbeschleunigung_02": accel if enabled else 3.01,
"ACC_zul_Regelabw_unten": 0.1 if enabled else 0, # FIXME: need comfort regulation logic here
"ACC_zul_Regelabw_oben": 0.1 if enabled else 0, # FIXME: need comfort regulation logic here
"ACC_neg_Sollbeschl_Grad_02": jerk if enabled else 0,
"ACC_pos_Sollbeschl_Grad_02": jerk if enabled else 0,
"ACC_neg_Sollbeschl_Grad_02": 5.0 if enabled else 0,
"ACC_pos_Sollbeschl_Grad_02": 5.0 if enabled else 0,
"ACC_Anfahren": acc_starting,
"ACC_Anhalten": acc_stopping,
}

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