From ab0c861a0855f8a7858912abbd2aa5a4398f036b Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Fri, 23 Feb 2024 19:35:21 -0600
Subject: [PATCH] VW PQ: Consolidate and cleanup tuning (#31566)

consolidate and cleanup PQ configs
old-commit-hash: b75a6cea34864d097ebd22a713db445180c72732
---
 selfdrive/car/volkswagen/interface.py | 21 +++++++++++----------
 1 file changed, 11 insertions(+), 10 deletions(-)

diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index 710e779d0a..544d104d33 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -72,14 +72,18 @@ class CarInterface(CarInterfaceBase):
 
     # Global lateral tuning defaults, can be overridden per-vehicle
 
-    ret.steerActuatorDelay = 0.1
-    ret.steerLimitTimer = 0.4
     ret.steerRatio = 15.6  # Let the params learner figure this out
-    ret.lateralTuning.pid.kpBP = [0.]
-    ret.lateralTuning.pid.kiBP = [0.]
-    ret.lateralTuning.pid.kf = 0.00006
-    ret.lateralTuning.pid.kpV = [0.6]
-    ret.lateralTuning.pid.kiV = [0.2]
+    ret.steerLimitTimer = 0.4
+    if candidate in PQ_CARS:
+      ret.steerActuatorDelay = 0.2
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+    else:
+      ret.steerActuatorDelay = 0.1
+      ret.lateralTuning.pid.kpBP = [0.]
+      ret.lateralTuning.pid.kiBP = [0.]
+      ret.lateralTuning.pid.kf = 0.00006
+      ret.lateralTuning.pid.kpV = [0.6]
+      ret.lateralTuning.pid.kiV = [0.2]
 
     # Global longitudinal tuning defaults, can be overridden per-vehicle
 
@@ -131,8 +135,6 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.80
       ret.minEnableSpeed = 20 * CV.KPH_TO_MS  # ACC "basic", no FtS
       ret.minSteerSpeed = 50 * CV.KPH_TO_MS
-      ret.steerActuatorDelay = 0.2
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     elif candidate == CAR.POLO_MK6:
       ret.mass = 1230
@@ -142,7 +144,6 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 1639
       ret.wheelbase = 2.92
       ret.minSteerSpeed = 50 * CV.KPH_TO_MS
-      ret.steerActuatorDelay = 0.2
 
     elif candidate == CAR.TAOS_MK1:
       ret.mass = 1498