VW MQB: Allowed lateral jerk to 2.5 m/s/s

jyoung8607 · Oct 11, 2024 · ec120de · ec120de
1 parent abdc418
commit ec120de
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Showing 2 changed files with 6 additions and 6 deletions.
diff --git a/board/safety/safety_volkswagen_mqb.h b/board/safety/safety_volkswagen_mqb.h
@@ -184,11 +184,11 @@ static bool volkswagen_mqb_tx_hook(const CANPacket_t *to_send) {
   // lateral limits
   const SteeringLimits VOLKSWAGEN_MQB_STEERING_LIMITS = {
     .max_steer = 300,              // 3.0 Nm (EPS side max of 3.0Nm with fault if violated)
-    .max_rt_delta = 75,            // 4 max rate up * 50Hz send rate * 250000 RT interval / 1000000 = 50 ; 50 * 1.5 for safety pad = 75
+    .max_rt_delta = 188,           // 10 max rate up * 50Hz send rate * 250000 RT interval / 1000000 = 125 ; 125 * 1.5 for safety pad = 187.5
     .max_rt_interval = 250000,     // 250ms between real time checks
-    .max_rate_up = 4,              // 2.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s)
+    .max_rate_up = 10,             // 5.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s)
     .max_rate_down = 10,           // 5.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s)
-    .driver_torque_allowance = 80,
+    .driver_torque_allowance = 60,
     .driver_torque_factor = 3,
     .type = TorqueDriverLimited,
   };

diff --git a/tests/safety/test_volkswagen_mqb.py b/tests/safety/test_volkswagen_mqb.py
@@ -26,13 +26,13 @@ class TestVolkswagenMqbSafety(common.PandaCarSafetyTest, common.DriverTorqueStee
   STANDSTILL_THRESHOLD = 0
   RELAY_MALFUNCTION_ADDRS = {0: (MSG_HCA_01,)}
 
-  MAX_RATE_UP = 4
+  MAX_RATE_UP = 10
   MAX_RATE_DOWN = 10
   MAX_TORQUE = 300
-  MAX_RT_DELTA = 75
+  MAX_RT_DELTA = 188
   RT_INTERVAL = 250000
 
-  DRIVER_TORQUE_ALLOWANCE = 80
+  DRIVER_TORQUE_ALLOWANCE = 60
   DRIVER_TORQUE_FACTOR = 3
 
   @classmethod