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Merge branch 'hkg-can-jerk' into master-dev-c3

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Jason Wen
2024-08-01 06:41:30 -04:00
parent 0a61323c99 9ad059f05e
commit 9a8c469fdb
1 changed files with 2 additions and 2 deletions
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selfdrive/car/hyundai/carcontroller.py
+2 -2
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@@ -516,10 +516,10 @@ class CarController(CarControllerBase):
a_error = accel - CS.out.aEgo
jerk = jerk + (a_error * 2.0)
if self.hkg_custom_long_tuning:
if not self.hkg_custom_long_tuning:
self.jerk_u = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
self.jerk_l = 5.0
if self.CP.carFingerprint in CANFD_CAR or self.CP.carFingerprint == CAR.HYUNDAI_KONA_EV_2022:
elif self.CP.carFingerprint in CANFD_CAR or self.CP.carFingerprint == CAR.HYUNDAI_KONA_EV_2022:
startingJerk = 0.5
jerkLimit = 5.0
self.jerk_count += DT_CTRL