VW PQ: update carAPI deviation, start tweaking longTuning specific PI…

… values
dkiiv · Sep 28, 2024 · bb2e339 · bb2e339
1 parent 796a34a
commit bb2e339
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
@@ -31,7 +31,7 @@ def __init__(self, dbc_name, CP, VM):
     self.last_button_frame = 0
     self.accel_last = 0
 
-    self.deviationBP = [-1., 0., 1.]      # accel        (m/s squared)
+    self.deviationBP = [-0.8, 0., 0.8]    # accel        (m/s squared)
     self.deviationV = [0., 0.13, 0.]      # comfort-band (m/s squared)
     self.rateLimitBP = [-5., 0., 5.]      # accel        (m/s squared)
     self.ratelimitV = [4., 0.20, 4.]      # jerk-limits  (m/s squared)

diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
@@ -73,7 +73,7 @@ def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, doc
       ret.steerActuatorDelay = 0.11
       ret.longitudinalTuning.kf = 1.
       ret.longitudinalTuning.kpBP = [0.]
-      ret.longitudinalTuning.kpV = [0.]
+      ret.longitudinalTuning.kpV = [0.1]
       ret.longitudinalTuning.kiBP = [0.]
       ret.longitudinalTuning.kiV = [0.]
       ret.longitudinalActuatorDelay = 0.15