From 39383f6d2376b34da33f9d2e40defa82bd3f3ee5 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Fri, 26 Jul 2024 11:35:59 -0400 Subject: [PATCH] add comments and TODO --- selfdrive/car/hyundai/carcontroller.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index cb3b375e1e..d1ebf075f9 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -211,8 +211,11 @@ class CarController(CarControllerBase): return can_sends + # We currently use static jerk limits for all accel commands, the PCM is very sensitive to how accels are being + # sent from the SCC source of truth. Dynamic jerk upper/lower limits are required to make PCM accept controls + # more smoothly def create_accel_value(self, CC, accel): - rate = 0.1 + rate = 0.1 # TODO: Dynamic jerk upper/lower limits should change this for more accurate and smoother controls if not CC.enabled: self.accel_raw, self.accel_val = 0, 0 else: