jerk limiter not needed and causing problems

selfdrive/car/volkswagen/carcontroller.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))

selfdrive/car/volkswagen/volkswagencan.py

@@ -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_neg_Sollbeschl_Grad_02": 5.0 if enabled else 0,
-    "ACC_pos_Sollbeschl_Grad_02": jerk if enabled else 0,
+    "ACC_pos_Sollbeschl_Grad_02": 5.0 if enabled else 0,
     "ACC_Anfahren": acc_starting,
     "ACC_Anhalten": acc_stopping,
   }