From 40075321dc6a1b37bfd045c895e07aedb6ad8759 Mon Sep 17 00:00:00 2001 From: Riccardo Date: Thu, 24 Oct 2019 19:52:16 -0700 Subject: [PATCH] VW: stricter limits to comply with comma safety policy --- board/safety/safety_volkswagen.h | 10 +++++----- tests/safety/test_volkswagen.py | 10 +++++----- 2 files changed, 10 insertions(+), 10 deletions(-) diff --git a/board/safety/safety_volkswagen.h b/board/safety/safety_volkswagen.h index 0c64efebc7fabf..4dc29120de6f36 100644 --- 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 index 8584db8025c2f0..cc341ae8489f70 100644 --- 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: