back to PID tune, higher limits and rates, button spam

jyoung8607 · Jul 28, 2023 · ac4822b · ac4822b
1 parent 7f0956a
commit ac4822b
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Showing 3 changed files with 7 additions and 8 deletions.
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
@@ -71,10 +71,10 @@ def update(self, CC, CS, ext_bus, now_nanos):
 
     # **** Stock ACC Button Controls **************************************** #
 
-    #gra_send_ready = self.CP.pcmCruise and CS.gra_stock_values["COUNTER"] != self.gra_acc_counter_last
-    #if gra_send_ready and (CC.cruiseControl.cancel or CC.cruiseControl.resume):
-    #  can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values,
-    #                                                       cancel=CC.cruiseControl.cancel, resume=CC.cruiseControl.resume))
+    gra_send_ready = self.CP.pcmCruise and CS.gra_stock_values["COUNTER"] != self.gra_acc_counter_last
+    if gra_send_ready and (CC.cruiseControl.cancel or CC.cruiseControl.resume):
+      can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values,
+                                                           cancel=CC.cruiseControl.cancel, resume=CC.cruiseControl.resume))
 
     new_actuators = actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.CCP.STEER_MAX

diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
@@ -120,7 +120,6 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     elif candidate == CAR.GOLF_MK8:
       ret.mass = 1409 + STD_CARGO_KG
       ret.wheelbase = 2.63
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     elif candidate == CAR.JETTA_MK7:
       ret.mass = 1328 + STD_CARGO_KG

diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
@@ -73,9 +73,9 @@ def __init__(self, CP):
       self.LDW_STEP = 10                  # LDW_02 message frequency 10Hz
       self.ACC_HUD_STEP = 6               # ACC_02 message frequency 16Hz
       self.STEER_DRIVER_ALLOWANCE = 80    # Driver intervention threshold 0.8 Nm
-      self.STEER_MAX = 370
-      self.STEER_DELTA_UP = 10
-      self.STEER_DELTA_DOWN = 10
+      self.STEER_MAX = 512
+      self.STEER_DELTA_UP = 33
+      self.STEER_DELTA_DOWN = 33
 
       if CP.transmissionType == TransmissionType.automatic:
         self.shifter_values = can_define.dv["Getriebe_11"]["GE_Fahrstufe"]