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VW MQB: Update steering angle and actuator delay (#23584)

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This commit is contained in:
Jason Young
2022-01-20 17:00:05 -05:00
committed by GitHub
parent fc8d402713
commit d898cccaa7
2 changed files with 4 additions and 4 deletions
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selfdrive/car/volkswagen/carstate.py
+3 -3
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@@ -33,7 +33,7 @@ class CarState(CarStateBase):
# Update steering angle, rate, yaw rate, and driver input torque. VW send
# the sign/direction in a separate signal so they must be recombined.
ret.steeringAngleDeg = pt_cp.vl["LH_EPS_03"]["EPS_Berechneter_LW"] * (1, -1)[int(pt_cp.vl["LH_EPS_03"]["EPS_VZ_BLW"])]
ret.steeringAngleDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradwinkel"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradwinkel"])]
ret.steeringRateDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradw_Geschw"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradw_Geschw"])]
ret.steeringTorque = pt_cp.vl["LH_EPS_03"]["EPS_Lenkmoment"] * (1, -1)[int(pt_cp.vl["LH_EPS_03"]["EPS_VZ_Lenkmoment"])]
ret.steeringPressed = abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE
@@ -150,8 +150,8 @@ class CarState(CarStateBase):
# this function generates lists for signal, messages and initial values
signals = [
# sig_name, sig_address, default
("EPS_Berechneter_LW", "LH_EPS_03", 0), # Absolute steering angle
("EPS_VZ_BLW", "LH_EPS_03", 0), # Steering angle sign
("LWI_Lenkradwinkel", "LWI_01", 0), # Absolute steering angle
("LWI_VZ_Lenkradwinkel", "LWI_01", 0), # Steering angle sign
("LWI_Lenkradw_Geschw", "LWI_01", 0), # Absolute steering rate
("LWI_VZ_Lenkradw_Geschw", "LWI_01", 0), # Steering rate sign
("ESP_VL_Radgeschw_02", "ESP_19", 0), # ABS wheel speed, front left
selfdrive/car/volkswagen/interface.py
+1 -1
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@@ -45,7 +45,7 @@ class CarInterface(CarInterfaceBase):
# Global lateral tuning defaults, can be overridden per-vehicle
ret.steerActuatorDelay = 0.05
ret.steerActuatorDelay = 0.1
ret.steerRateCost = 1.0
ret.steerLimitTimer = 0.4
ret.steerRatio = 15.6 # Let the params learner figure this out