VW updates

* bump long kf
* add BR8_Laengsbeschl to EPB brake init calculation
* refactor RegelAbw control, link to speed with roll off for high accel demand, and clip range

selfdrive/car/volkswagen/carcontroller.py

@@ -158,14 +158,14 @@ def update(self, CC, CS, now_nanos):
       accel = clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0
                                                                             # SMA to EMA conversion: alpha = 2 / (n + 1)    n = SMA-sample
       self.accel_diff = (0.0019 * (accel - self.accel_last)) + (1 - 0.0019) * self.accel_diff         # 1000 SMA equivalence
-      self.long_deviation = interp(abs(accel - self.accel_diff), [0, .3, 1.], [.25, .25, 0])          # floating comfort band calculation
       self.long_jerklimit = (0.01 * (clip(abs(accel), 0.7, 2))) + (1 - 0.01) * self.long_jerklimit    # set jerk limit based on accel
+      self.long_deviation = clip(CS.out.vEgo/40, 0, 0.25) * interp(abs(accel - self.accel_diff), [0, .3, 1.], [1.0, 1.0, 0.0])
 
       if self.CCS == pqcan and CC.longActive and actuators.accel <= 0 and CS.out.vEgoRaw <= 5:
         if not self.EPB_enable:  # first frame of EPB entry
           self.EPB_counter = 0
           self.EPB_brake = 0
-          self.EPB_brake_last = accel
+          self.EPB_brake_last = accel - (CS.aEgoBremse / 2)
           self.EPB_enable = 1
         else:
           self.EPB_brake = limit_jerk(accel, self.EPB_brake_last, 0.7, 0.02)

selfdrive/car/volkswagen/carstate.py

@@ -17,6 +17,7 @@ def __init__(self, CP):
     self.esp_hold_confirmation = False
     self.upscale_lead_car_signal = False
     self.eps_stock_values = False
+    self.aEgoBremse = 0
 
   def create_button_events(self, pt_cp, buttons):
     button_events = []
@@ -180,6 +181,8 @@ def update_pq(self, pt_cp, cam_cp, ext_cp, trans_type):
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
     ret.standstill = ret.vEgoRaw == 0
 
+    self.aEgoBremse = pt_cp.vl["Bremse_8"]["BR8_Laengsbeschl"]
+
     # Update EPS position and state info. For signed values, VW sends the sign in a separate signal.
     ret.steeringAngleDeg = pt_cp.vl["Lenkhilfe_3"]["LH3_BLW"] * (1, -1)[int(pt_cp.vl["Lenkhilfe_3"]["LH3_BLWSign"])]
     ret.steeringRateDeg = pt_cp.vl["Lenkwinkel_1"]["Lenkradwinkel_Geschwindigkeit"] * (1, -1)[int(pt_cp.vl["Lenkwinkel_1"]["Lenkradwinkel_Geschwindigkeit_S"])]

selfdrive/car/volkswagen/interface.py

@@ -71,7 +71,7 @@ def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, doc
     ret.steerLimitTimer = 0.4
     if ret.flags & VolkswagenFlags.PQ:
       ret.steerActuatorDelay = 0.11
-      ret.longitudinalTuning.kf = 1.1
+      ret.longitudinalTuning.kf = 1.2
       ret.longitudinalTuning.kpBP = [0.]
       ret.longitudinalTuning.kpV = [0.]
       ret.longitudinalTuning.kiBP = [0., 11, 22, 35]