VW: stricter limits to comply with comma safety policy

commaai · Oct 25, 2019 · 4007532 · 4007532
1 parent e2e2be9
commit 4007532
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Showing 2 changed files with 10 additions and 10 deletions.
diff --git a/board/safety/safety_volkswagen.h b/board/safety/safety_volkswagen.h
@@ -1,10 +1,10 @@
-const int VW_MAX_STEER = 300;               // 3.0 nm
-const int VW_MAX_RT_DELTA = 188;            // 10 max rate * 50Hz send rate * 250000 RT interval / 1000000 = 125 ; 125 * 1.5 for safety pad = 187.5
+const int VW_MAX_STEER = 250;               // 2.5 nm
+const int VW_MAX_RT_DELTA = 75;             // 4 max rate up * 50Hz send rate * 250000 RT interval / 1000000 = 125 ; 125 * 1.5 for safety pad = 75
 const uint32_t VW_RT_INTERVAL = 250000;     // 250ms between real time checks
-const int VW_MAX_RATE_UP = 10;              // 5.0 nm/s available rate of change from the steering rack
+const int VW_MAX_RATE_UP = 4;               // 5.0 nm/s available rate of change from the steering rack
 const int VW_MAX_RATE_DOWN = 10;            // 5.0 nm/s available rate of change from the steering rack
-const int VW_DRIVER_TORQUE_ALLOWANCE = 100;
-const int VW_DRIVER_TORQUE_FACTOR = 4;
+const int VW_DRIVER_TORQUE_ALLOWANCE = 80;
+const int VW_DRIVER_TORQUE_FACTOR = 3;
 
 struct sample_t vw_torque_driver;           // last few driver torques measured
 int vw_rt_torque_last = 0;

diff --git a/tests/safety/test_volkswagen.py b/tests/safety/test_volkswagen.py
@@ -4,15 +4,15 @@
 import libpandasafety_py  # pylint: disable=import-error
 from panda import Panda
 
-MAX_RATE_UP = 10
+MAX_RATE_UP = 4
 MAX_RATE_DOWN = 10
-MAX_STEER = 300
+MAX_STEER = 250
 
-MAX_RT_DELTA = 188
+MAX_RT_DELTA = 75
 RT_INTERVAL = 250000
 
-DRIVER_TORQUE_ALLOWANCE = 100
-DRIVER_TORQUE_FACTOR = 4
+DRIVER_TORQUE_ALLOWANCE = 80
+DRIVER_TORQUE_FACTOR = 3
 
 def sign(a):
   if a > 0: