fixing PCC PID values and limits per @tb205gti

rafcabezas · Apr 28, 2020 · f1d2165 · f1d2165
1 parent ecdc693
commit f1d2165
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/selfdrive/car/tesla/PCC_module.py b/selfdrive/car/tesla/PCC_module.py
@@ -369,7 +369,7 @@ def update_pdl(self, enabled, CS, frame, actuators, pcm_speed, speed_limit_ms, s
     following = False
     if self.lead_1:
       following = self.lead_1.status and self.lead_1.dRel < MAX_RADAR_DISTANCE and self.lead_1.vLeadK > v_ego and self.lead_1.aLeadK > 0.0
-    accel_limits = [float(x) for x in calc_cruise_accel_limits(v_ego,following)]
+    accel_limits = [float(x) for x in calc_cruise_accel_limits(v_ego,following,is_tesla=True)]
 
 
     accel_limits[1] *= _accel_limit_multiplier(CS, self.lead_1)

diff --git a/selfdrive/controls/lib/planner.py b/selfdrive/controls/lib/planner.py
@@ -30,7 +30,7 @@
 # need fast accel at very low speed for stop and go
 # make sure these accelerations are smaller than mpc limits
 
-_A_CRUISE_MAX_V_TESLA = [2.0, 1.6, 1.0, 0.7]
+_A_CRUISE_MAX_V_TESLA = [1.775, 1.85, 1.325, 1.25]
 _A_CRUISE_MAX_V = [1.2, 1.2, 0.65, .4]
 _A_CRUISE_MAX_V_FOLLOWING_TESLA = [1.6, 1.6, 0.65, .4]
 _A_CRUISE_MAX_V_FOLLOWING = [1.6, 1.6, 0.65, .4]