From 7ac938a4747043a830b6c96eaeb5d14616dd45a1 Mon Sep 17 00:00:00 2001 From: Comma Device Date: Sat, 20 Nov 2021 22:31:32 -0500 Subject: [PATCH] reduce comfort band with lead car --- selfdrive/car/volkswagen/carcontroller.py | 6 +++++- selfdrive/car/volkswagen/volkswagencan.py | 6 +++--- 2 files changed, 8 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index eab99c9f0e..8f925f7841 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/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)) diff --git a/selfdrive/car/volkswagen/volkswagencan.py b/selfdrive/car/volkswagen/volkswagencan.py index 37b3410de8..12b2e354c7 100644 --- a/selfdrive/car/volkswagen/volkswagencan.py +++ b/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,