From da2b9eade2ff1ed564494ac5c328fcfea262cf8e Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Fri, 26 Jul 2024 16:48:10 -0400 Subject: [PATCH] different jerk limits --- selfdrive/car/hyundai/carcontroller.py | 2 +- selfdrive/car/hyundai/hyundaican.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index dcb227f850..57d2229d08 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -146,7 +146,7 @@ class CarController(CarControllerBase): if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl: # TODO: unclear if this is needed - jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0 + jerk = 2.0 if actuators.longControlState == LongCtrlState.pid else 1.0 use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value self.create_accel_value(CC, accel) can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, self.accel_raw, self.accel_val, jerk, diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py index c4ad46e81d..0e6a4eded7 100644 --- a/selfdrive/car/hyundai/hyundaican.py +++ b/selfdrive/car/hyundai/hyundaican.py @@ -166,7 +166,7 @@ def create_acc_commands(packer, enabled, accel_raw, accel_val, upper_jerk, idx, "ComfortBandUpper": 0.0, # stock usually is 0 but sometimes uses higher values "ComfortBandLower": 0.0, # stock usually is 0 but sometimes uses higher values "JerkUpperLimit": upper_jerk, # stock usually is 1.0 but sometimes uses higher values - "JerkLowerLimit": 5.0, # stock usually is 0.5 but sometimes uses higher values + "JerkLowerLimit": 3.0, # stock usually is 0.5 but sometimes uses higher values "ACCMode": 2 if enabled and long_override else 1 if enabled else 4, # stock will always be 4 instead of 0 after first disengage "ObjGap": 2 if hud_control.leadVisible else 0, # 5: >30, m, 4: 25-30 m, 3: 20-25 m, 2: < 20 m, 0: no lead }