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

selfdrive/car/hyundai/carcontroller.py

@@ -115,6 +115,7 @@ class CarController(CarControllerBase):
 
     self.accel_raw = 0
     self.accel_val = 0
+    self.accel_last_jerk = 0
 
   def calculate_lead_distance(self, hud_control: car.CarControl.HUDControl) -> float:
     lead_one = self.sm["radarState"].leadOne
@@ -502,7 +503,7 @@ class CarController(CarControllerBase):
     elif actuators.longControlState == LongCtrlState.stopping:# or hud_control.softHold > 0:
       accel_diff = 0.0
     else:
-      accel_diff = self.accel_raw - self.accel_last
+      accel_diff = self.accel_raw - self.accel_last_jerk
 
     accel_diff /= DT_CTRL
     self.jerk = self.jerk * 0.9 + accel_diff * 0.1
@@ -555,8 +556,8 @@ class CarController(CarControllerBase):
   def make_accel(self, actuators):
     long_control = actuators.longControlState
     is_ice = not self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV)
-    rate_up = 0.1 * 1 if is_ice else self.jerk_u
-    rate_down = 0.1 * 1 if is_ice else self.jerk_l
+    rate_up = 0.1
+    rate_down = 0.1
     if long_control == LongCtrlState.off:
       self.accel_raw, self.accel_val = 0, 0
     else:

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -55,7 +55,7 @@ T_IDXS = np.array(T_IDXS_LST)
 FCW_IDXS = T_IDXS < 5.0
 T_DIFFS = np.diff(T_IDXS, prepend=[0.])
 COMFORT_BRAKE = 2.5
-STOP_DISTANCE = 8.0
+STOP_DISTANCE = 6.0
 
 def get_jerk_factor(personality=custom.LongitudinalPersonalitySP.standard):
   if personality==custom.LongitudinalPersonalitySP.relaxed: