reduce comfort band with lead car

selfdrive/car/volkswagen/carcontroller.py

@@ -56,6 +56,9 @@ class CarController():
       else:
         self.acc_stopping, self.acc_starting = False, False
 
+      cb_pos = 0.0 if lead_visible else 0.1
+      cb_neg = 0.1
+
       if acc_hold_request:
         weird_value = 0x88
       elif self.acc_stopping:
@@ -66,7 +69,8 @@ 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, self.acc_stopping, self.acc_starting, idx))
+                                                                 accel, self.acc_stopping, self.acc_starting,
+                                                                 cb_pos, cb_neg, 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

@@ -49,14 +49,14 @@ 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, acc_stopping, acc_starting,
-                              idx):
+                              cb_pos, cb_neg, idx):
   values = {
     "ACC_Typ": 2,  # FIXME: locked to stop and go, need to tweak for cars that only support follow-to-stop
     "ACC_Status_ACC": acc_status,
     "ACC_StartStopp_Info": enabled,
     "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_zul_Regelabw_unten": cb_neg,
+    "ACC_zul_Regelabw_oben": cb_pos,
     "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,