From 6f8443ce269032092d922f41ef033eb858bc84c5 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Thu, 20 Jan 2022 17:00:05 -0500 Subject: [PATCH] VW MQB: Update steering angle and actuator delay (#23584) old-commit-hash: d898cccaa7d772c92c8128092d42898607b08a40 --- selfdrive/car/volkswagen/carstate.py | 6 +++--- selfdrive/car/volkswagen/interface.py | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index 0e0b0dfc07..b8ea31983d 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -33,7 +33,7 @@ class CarState(CarStateBase): # Update steering angle, rate, yaw rate, and driver input torque. VW send # the sign/direction in a separate signal so they must be recombined. - ret.steeringAngleDeg = pt_cp.vl["LH_EPS_03"]["EPS_Berechneter_LW"] * (1, -1)[int(pt_cp.vl["LH_EPS_03"]["EPS_VZ_BLW"])] + ret.steeringAngleDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradwinkel"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradwinkel"])] ret.steeringRateDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradw_Geschw"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradw_Geschw"])] ret.steeringTorque = pt_cp.vl["LH_EPS_03"]["EPS_Lenkmoment"] * (1, -1)[int(pt_cp.vl["LH_EPS_03"]["EPS_VZ_Lenkmoment"])] ret.steeringPressed = abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE @@ -150,8 +150,8 @@ class CarState(CarStateBase): # this function generates lists for signal, messages and initial values signals = [ # sig_name, sig_address, default - ("EPS_Berechneter_LW", "LH_EPS_03", 0), # Absolute steering angle - ("EPS_VZ_BLW", "LH_EPS_03", 0), # Steering angle sign + ("LWI_Lenkradwinkel", "LWI_01", 0), # Absolute steering angle + ("LWI_VZ_Lenkradwinkel", "LWI_01", 0), # Steering angle sign ("LWI_Lenkradw_Geschw", "LWI_01", 0), # Absolute steering rate ("LWI_VZ_Lenkradw_Geschw", "LWI_01", 0), # Steering rate sign ("ESP_VL_Radgeschw_02", "ESP_19", 0), # ABS wheel speed, front left diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index bb67a27262..acbb1358b1 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -45,7 +45,7 @@ class CarInterface(CarInterfaceBase): # Global lateral tuning defaults, can be overridden per-vehicle - ret.steerActuatorDelay = 0.05 + ret.steerActuatorDelay = 0.1 ret.steerRateCost = 1.0 ret.steerLimitTimer = 0.4 ret.steerRatio = 15.6 # Let the params learner figure this out