How to adapt the throttle body in a car. Electronic gas pedal - adjustment and repair without problems Learning the electronic gas pedal VAZ

New Nissan vehicles are equipped with electronic throttles. From e throttle valve depends on the air supply necessary for optimal operation of the motor. Also, the electronic throttle regulates idling and warm-up speed of the motor. Usually after removing the battery terminal, or some kind of repair associated with disconnecting the engine wiring or flushing, cleaning the electronic throttle, or with a breakdown injection system motor control, there are problems associated with speed idle move.

The engine speed starts to float, the engine does not work stably at idle, while the car can drive, it will start. Often, owners of such Nissans or repairmen may think that this is a malfunction - some kind of breakdown, defect, or something incorrectly assembled. But in fact there is no malfunction, and all the components of the car are assembled correctly. The whole problem lies in the failure of the electronics, namely the need to teach the throttle to work properly and idle. The learning procedure itself does not require any equipment and the adaptation (learning) of the throttle on a Nissan is available to anyone. But in the procedure itself, the accuracy of all points must be observed. But even the availability of information about the learning process does not make the procedure simple. Diagnostic equipment, with throttle mismatch and with an increase in idle speed at the motor, does not reveal any defects. And very often, even repairmen cannot explain the reason for the sudden increase in idle speed. After proper training, the motor operates in the range of 700-800 rpm. The electronic throttle is very sensitive to dirt deposits and resins that are deposited on it during the operation of the machine. Because of this, the idle speed of the motor begins to float or hang. And also the response of the motor to the gas pedal during acceleration is less sensitive. Therefore, cleaning the throttle is a must. But if the throttle is very dirty, after cleaning it, the throttle mismatch occurs - and as a result, floating and incorrect revolutions. It is impossible not to clean the throttle - in the end the motor will not work correctly. If you have the opportunity, clean the electronic throttle in time - once every 15,000 km. If for some reason you removed the connector from the electronic throttle, from the battery, or from the Nissan engine control unit, you will have to carry out the throttle adaptation procedure.

Training procedure

1. First we must teach the released position of the accelerator pedal.

2. Make sure the accelerator pedal is fully released.

3. Turn the ignition to the ON position and wait at least 2 seconds

5. Turn the ignition to the ON position and wait at least 2 seconds

6. Turn the ignition key to the OFF position and wait at least 10 seconds

7. End

Throttle closed learning

1. Make sure the accelerator pedal is fully released.

2. Turn the ignition to the ON position

3. And immediately turn the ignition key to the OFF position and wait at least 10 seconds, during this time the damper will move.

Teaching air supply at idle speed

1. The engine and gearbox must be warmed up to operating temperature

2. All consumers of electricity are turned off

3. Start the engine and warm it up to operating temperature

4. Turn the ignition key to the OFF position and wait at least 10 seconds

5. Make sure the accelerator pedal is fully released.

6. Turn the ignition to the ON position and wait at least 3 seconds

7. Quickly within 5 seconds - fully depress and release the accelerator pedal 5 times

8. Wait 7 seconds

9. Fully depress the accelerator pedal for about 20 seconds until the CHECK indicator stops flashing and stays on

10. Fully release the accelerator pedal within 3 seconds when the CHECK indicator lights up constantly

11. Start the engine and let it run at idle

12. Wait 20 seconds

13. Press the gas pedal 2-3 times and make sure that XX is normal

All procedures must be carried out exactly on time, the main thing is not too early to press the gas pedal and press and release it quickly.

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The importance of the throttle adaptation procedure is difficult to underestimate, and not every motorist knows how to perform this operation on their own.

1

During the operation of the throttle assembly of any modern vehicle, a lot of contaminants in the form of dust, soot, and oil gradually accumulate on the surface of the throttle. They form a layer of dirt, which makes the air gap between the damper and the car air duct less than the established norm. This gap is important for the normal functioning of the "heart" of the car, because thanks to it the idle speed is maintained at the required level.

When it decreases, the electronic control unit of the vehicle (car computer) slightly opens the damper by introducing coefficients that take into account changes in its cross section. Up to a certain point, the ECU manages to maintain the air gap at a constant level, but sooner or later it will still have to be cleaned of dirt. After flushing this unit, the engine speed will necessarily increase due to the fact that the cross section of the throttle, freed from the polluting layer, will become larger.

The procedure for returning to the initial (set by the manufacturer) position of the damper is usually called its training or adaptation.

2

The need for such an operation, involving reduction to a standard indicator high speed idle, occurs not only after flushing the throttle assembly, but also in other cases, in particular, in the following:

• after complete discharging battery vehicle;
• after replacing or removing the accelerator pedal;
• after replacement or reconnection electronic block vehicle control.

Undoubted signs signaling that it is required to immediately train the damper are the following phenomena:

• whistle during regassing;
• inadequate behavior of the motor at idle;
• lack of power at idle or failures.

3 Conditions for carrying out the idle adaptation process

Before starting training, you must fulfill a number of prerequisites:

• travel by car for 10 minutes;
• ensure the battery voltage at idle is not less than 12.9 V;
• warm up the gearbox
• the wheels of the vehicle must be straight, the steering wheel is in the middle position;
• engine temperature - 70–95 ° С;
• all devices that exert a load on the electrical network of the machine (heated windows, headlights, and so on) should be turned off;
• selector automatic box gears are put on N or R.

4

It is advisable to perform the adaptation of these devices before you teach idling. If the cable of the sensor that sends a signal about the position of the accelerator pedal has been disconnected, the following steps must be taken:

1. Release the pedal completely.
2. Turn the ignition key to "ON", wait at least two seconds;
3. Turn off the ignition, hold for 10 seconds;
4. Repeat the procedure according to paragraph 2, and after and according to paragraph 3.

The described procedure (agree, quite simple) will teach the damper to open correctly. But to adapt the valve to the "Closed" position, perform the following operations:

1. Release (completely) the accelerator pedal.
2. Turn the key to the "ON" position.
3. Switch the ignition to "OFF" and wait 10 seconds.
4. We make sure that the valve lever moves for 10 seconds (the characteristic sound indicates that there is movement).

5

Now you can proceed directly to learning to idle, "armed" with a stopwatch and some patience. The procedure is performed like this:

• The engine starts and warms up to standard operating temperature.
• The ignition is turned off, no action is taken for 10 seconds.
• The ignition is turned on (the accelerator pedal is in the released position), we wait 3 seconds.
• The following actions are performed five times in a row: the accelerator pedal is fully depressed and fully released.
• After 7 seconds, the pedal is pressed again (fully) and maintained in this state for 20 seconds.
• Fully (and at the same time without delay) the pedal is released at the moment when the malfunction indicator on the panel stops flashing (it should burn with a steady light).
• Then immediately, without touching the accelerator pedal, you need to start the engine so that it functions at idle.
• We are waiting for about 20 seconds.

After all the voiced actions, we accelerate the engine (2-3 times) and make sure that the standards for the ignition timing and idle speed are met. On this, the damper adaptation procedure can be considered completed.

So that the car works properly and does not appear at the service station for as long as possible, except in cases Maintenance, it must be treated carefully. One of the important nodes of the iron horse is the throttle valve (DZ). This mechanism plays important role in diesel or gasoline engine. And it doesn’t matter if it’s carburetor power point or injector. DZ can be either mechanically or electronically driven. In the latter case, it sometimes becomes necessary to adapt the throttle valve. How to do it? Let's try to figure it out, at the same time we will take a closer look at the types of this node. We will also find out whether it is necessary to do this, and what might happen otherwise.

Throttle valve assignment

Not a single car in the world can do without such a unit as a throttle valve. The mechanism is a transverse channel regulator that changes the amount of liquid or gas flowing. That is, at its core, the damper is an air valve. When it is closed, the pressure in the intake system is equal to vacuum, and when it is open, it is compared with the outside atmospheric pressure.

By pressing the accelerator pedal, the degree of opening of the damper is adjusted. Accordingly, it depends on how much air enters the engine cylinders. Almost everyone modern car equipped with an injection engine, where all important duties are taken over by

As some motorists know, the optimal ratio of gasoline and air is 1:14.7. By determining the position of the throttle valve and the amount of air using sensors, the ECU regulates the operation of the injectors and the fuel pump. This knowledge will come in handy in deciding how to adapt the throttle.

In other words, the computer gives the command how much fuel to feed into the engine in order to maintain the optimal proportions.

Mechanical throttle

At present, a mechanically operated damper can only be found in budget configuration car. In such a mechanism, the damper is connected to the accelerator pedal by means of a metal cable, fixed on the shaft and placed in a housing, which also contains sensors:

• throttle position (TPDZ).

All this looks like a separate block. Various pipes also lead to it, one by one the coolant is supplied and removed, and through the others the crankcase is ventilated and fuel vapors are captured.

Thanks to the IAC, when the damper is closed, the required number of revolutions of the crankshaft is maintained. The regulator itself consists of a stepper motor and a special valve. Together they adjust the amount of air, and, regardless of what position the throttle is in. Usually there is no problem regarding how to adapt the throttle in the case of a mechanical drive.

Electromagnetic throttle

An electronic analog, unlike a mechanical unit, allows you to achieve the optimal torque value in any engine operating mode. The level of fuel consumption is reduced, and driving such a car is comfortable and safe. The main distinguishing features (and in this case, advantages) are the following:

• idle speed is controlled by moving the throttle;
• there is no mechanical connection between the pedal and the damper.

Due to the fact that there is no mechanical connection, the torque can be controlled electronically instead of the gas pedal. The damper module itself consists of the following elements:

• corps;
• damper itself;
• electric drive;
• return spring mechanism;
• damper position sensors.

Installing not one, but two damper position sensors in the module will improve reliability. For this, magnetoresistive devices or potentiometers having sliding contacts can be used. Just because of the breakdown of these elements, it is necessary to decide how to adapt the throttle on many cars.

In the event of a malfunction of the electric drive, due to the reciprocating spring mechanism, the damper is brought to an emergency position. In this case, the module itself must be replaced, which is done only as an assembly.

Throttle valve clogging and cleaning intervals

From time to time, the throttle valve inevitably becomes clogged, which manifests itself in various ways. In this regard, a reasonable question arises: how often should it be cleaned? It is not entirely possible to answer it unambiguously, since there are no recommendations on this matter. Some car owners visit auto repair shops when they suspect an engine problem.

Someone thinks that the damper needs to be cleaned after every 40,000-50,000 km of run. Others have a different opinion and clean the damper more often, after 30,000-40,000 kilometers.

Usually, black deposits on the damper indicate poor fuel quality. During the operation of a car with such gasoline, there is a risk of oily deposits. After that, there should be no question whether the throttle valve needs to be adapted.

As a rule, if the piston group experiences some problems, then a characteristic symptom is the coking of the damper with soot with oily impurities. Sometimes this indicates clogging of crankcase ventilation.

Signs of a clogged damper

When the throttle is clogged, the engine starts to run in an unstable mode. The characteristic symptoms of a malfunction in this case are:

• increased idle speed;
• delayed reaction of the engine to pressing the accelerator pedal;
• jerks are observed during the movement of the car, and sometimes vehicle independently, without the participation of the driver, changes the speed;
• abrupt release causes the power plant to stop.

In some cases on dashboard lights up CHECK indicator. Sometimes tar deposits settle on the throttle shaft, causing it to stick. Then the gas pedal is pressed with a noticeable effort.

Before moving on to solving the problem of how to adapt the throttle on a Skoda or any other car, you need to make sure that the diagnosis is accurate by conducting a visual inspection of the mechanism. To do this, you need to remove everything that is possible in order to open access to the module. Care must be taken not to accidentally disconnect

DZ cleaning

If the cause of unstable engine operation is a dirty damper, it is worth moving on to cleaning it. To do this, you can contact a reliable service station. Among the large number of workshops, you can find one that specializes in specific brands (Audi, Volkswagen, Toyota, Mercedes and others). However, the owner can do all the work on his own, since much experience and skills are not required in this matter.

At service stations, the cost of the procedure may depend on a number of factors:

• the complexity of the work - for some cars, access to the remote sensing will require the dismantling of many parts;
• the service level of service stations - as a rule, the larger the organization, the more expensive;
• location - in large metropolitan areas you can leave more money than in the periphery.

Cleaning the remote control is a simple procedure, after which you usually need to think about how to adapt the throttle on a Nissan or any other car.

Any car owner can perform this procedure on their own. It does not require special knowledge and skills. All you need to get to the damper is tools and rags (preferably soft ones). Also not without special means- the cleaner for the carburetor "Carbcleaner" (CARB Cleaner) is mainly used.

Self cleansing procedure

If the damper is electronically actuated, then it is better to remove the negative terminal of the battery. Then everything can be done according to a simple instruction:

• dismantle the air filter, for which unwind the pipe clamp;
• disconnect all connectors of the throttle module and other pipes;
• move the receiver air filter to the side so as not to interfere, and proceed to clean the damper;
• upon completion, assemble the damper module in reverse order, checking whether everything is in its place;
• after assembly, start the engine and check the idle speed.

In some cases, before starting to adapt the throttle on a Toyota, Nissan or Skoda, it is necessary to remove the throttle itself, which allows a complete cleaning of the damper. This will require a 5mm hexagon to unscrew the 4 fasteners. Remove the throttle with great care, as there is a risk of damaging the gasket.

If, after cleaning the DZ, increased idle speeds are observed, then it is necessary to adapt the damper. About what it is, further in the topic of the article.

The need to adapt remote sensing

This definition refers to the operation (or learning) that is carried out so that the ECU “knows” what position the throttle is in relative to the degree of depression of the accelerator pedal. This procedure is simply necessary for unstable engine operation on idling.

For most Toyota, Lexus, Mercedes, Nissan, Audi cars, it is necessary to adapt the throttle valve, as this allows you to eliminate the malfunction. The procedure is performed in the following cases:

• in case of a critical voltage drop of the on-board network (the battery is disconnected or completely discharged);
• the computer was replaced;
• the damper was cleaned with the throttle removed;
• when replacing the throttle module itself;
• the accelerator pedal was replaced, usually electronic.

It is worth noting that due to a layer of dirt, the gap between the remote control and the body changes, and after cleaning the damper, its position has changed. But the ECU "does not know" about this and continues to manage the fuel supply according to the previous indications (before the cleaning operation). Adaptation will completely eliminate this gap and restore engine performance.

The simplest way to adapt

Now the question of whether it is necessary to adapt the throttle after cleaning should definitely not arise, if there were still doubts. The easiest way to carry out the operation is by simply resetting. Only for a start it is worth warming up the engine well to operating temperature, for which it is necessary to make a short trip. Then, turning off the engine, disconnect the negative terminal of the battery and wait. Depending on the brand of car, the waiting time can be 10-30 seconds or 15-20 minutes.

During this period, all ECU parameters should return to their original (factory) settings. Then it remains to connect the terminal and start the engine - the speed should return to normal.

Adaptation on the example of some cars

Another way, which we consider using the example of one well-known german mark, also involves adaptation without a computer. Here you should warm up the engine to a temperature of approximately 70-99 ° C. The battery voltage must be at least 12.9 volts at idle engine. The scheme of actions on how to adapt the throttle on a Volkswagen will be something like this:

• Warming up and turning off the engine, you should wait a short period (5-10 s.).
• With the gas pedal released, turn on the ignition and wait 3 seconds.
• After 3 seconds, you need to press the accelerator pedal 5 times to the stop and release it back. Act quickly, as it only takes 5 seconds.
• After the 5th exercise, it is worth waiting for a pause.
• After 7 seconds, press the pedal again to the stop and keep it in this position until the “CHEK” indicator starts flashing (≈ 10 s.), Then it should be constantly on (another ≈ 20 s.).
• When the indicator stays on, count to three and only then release the pedal.
• Start the engine (repeat if necessary), wait a pause of 20 seconds, then slightly accelerate (2000-3500). If at XX the tachometer shows 700 rpm (+ - 50), then the adaptation was successful.

In this case, it is necessary to strictly adhere to the time intervals of each setting step. Only in this way the ECU training will go smoothly. But before that, it is worth exploring the features of adaptation and the possibility of a manual procedure for your car. Perhaps only service stations can help.

How does an electronic gas pedal work, how do its advantages and disadvantages manifest itself, what malfunctions are most common, and how to deal with them? All these questions are very relevant, because today many car manufacturers have replaced the traditional cable drive to a more modern electronic pedal.

Electronic gas pedal - how does it work?

Modern technologies are aimed at making our lives as easy as possible. On the one hand, this is a huge plus, but on the other hand, they simply deprive us of the opportunity to make any decision, or rather, correct it, and in such a way that it is not always possible to achieve the desired result. This is clearly seen in the operation of the electronic pedal, which is so popular in modern automotive industry. Although for those who feel insecure behind the wheel, and even more so do not delve into the technical nuances of the car, this innovation is only a plus.

The principle of operation of the electronic gas pedal is as follows: after the driver presses the accelerator, data on the pressure angles immediately enter the control unit through special sensors. Next comes the move ECU, which calculates the required opening angle, and the drive, based on the data received, opens it to this angle. Moreover, if it is suddenly necessary to change the value of this angle (for more economy mode or safety), then the control unit does it itself, without receiving the appropriate command. It turns out that the driver cannot 100% regulate this process.

When do you need to replace the electronic gas pedal?

Due to the fact that this is an electronic drive, the main malfunctions in it are associated with electronics. Two sensors are built into the pedal bracket, which transmit commands to the control unit. If one of these sensors fails, then the light on the panel will light up, which is responsible for the health of the engine control system. In this case, the ECU goes into standby mode (revs increase much more slowly). If two sensors are out of order, it will turn on emergency mode, and the engine will work like on . Since the sensors cannot be repaired, the electronic gas pedal must be replaced.

The wiring may also be damaged, and then the operation of the throttle is disrupted. If the electric engine is worn out, then an error is also displayed on the monitor indicating an accident. These damages can be repaired, but if the accelerator of the electronic gas pedal, which is responsible for the dynamics of the car, is out of order, then this part should be immediately replaced with a new one. How to do this, we will consider a little lower.

Repair of the electronic gas pedal - we fix the breakdowns ourselves

Basically, in case of any problems, the replacement of the entire assembly as a whole is required. But before embarking on such decisive action, it would not hurt to find out the cause of the breakdown. To do this, of course, you should read the information on how to check the electronic gas pedal. To do this, it is necessary to disconnect the block and sensors, and then, unscrewing the fixing nuts, dismantle the pedal.

Directly for verification, you will need a multimeter: by connecting it to different terminals, we monitor the change in electrical resistance. It should decrease smoothly, but if jumps are observed, then the part is faulty.

In some cases, it is also possible to repair the electronic gas pedal, for example, if the wiring is damaged. So, having discovered a defect (the insulation is broken, the wires themselves are damaged, etc.), you need to act according to the following scheme. Having freed the axis of fastening of the gear, remove the harness. To do this, unsolder the wires, release the bracket and pull out the cable. Then we replace the wires, and, having disassembled the connector under the pedal, we solder them. Now you can assemble the damper and drive safely.

If the car reacts to pressing the accelerator, so to speak, “with a delay”, then a spur (electronic corrector) of the gas pedal is needed. This device allows you to reduce the interval between pressing and opening the damper to a minimum. This is a separate module that connects to the sensors and converts the signals from them through the microprocessor, and then feeds them to the controller.

So we see that the electronic gas pedal, tuning of which is possible in any specialized center, on the one hand, is a clear result of progress, and on the other, it somewhat limits our desires. True, if you do not belong to the category of those people who need to “ride with the breeze”, but prefer to drive carefully with minimal fuel consumption, then this option will be just for you.

Sometimes the engine fails, and its speed is knocked out of the set values. As a result, the idle speed becomes unstable, dips in power occur.

It seems that the engine, any minute, will stall. This is explained by the wear of the part, and as a result, an increase in the gap between the throttle body and the damper. A broken gap allows air to pass more than normal, and this is the reason for a change in the composition of the fuel mixture.

The result is engine failure. When the damper (penny) is worn out, it becomes necessary to replace it. Due to the simplicity of the design, it will not be difficult to order it from a familiar turner or find it on the Internet from some “Kulibin”. The price of the purchased part will be much higher.

Since new car models already come with electronic throttle control (electronic pedal), malfunctions in the electrical equipment of the car can also lead to an error in operation.

A sharp power surge in the car network, removal / replacement of the electronic control unit, accelerator pedal - all this can cause a malfunction of this part of your car. Then there is a need to return all parameters to normal.

Examples of throttle adaptation on VAG and Lancer IX vehicles

In this video, you will be told and shown how to adapt the damper for a VAG car.

Adaptation of remote sensing to Volkswagen Golf 4:

• We warm up the engine to t=80 0 C and turn off the car. Then we connect the USB-KKL cable to the diagnostic connector and after turning on the ignition we start the diagnostic program (VAG-COM 3.11).
• We enter section 01-engine.
• We poll the fault memory (02).
• Detected faults are erased (05).
• After returning to the previous menu, we enter the "adaptation-10" section.
• With the value of group 001, press "start".
• We wait 2-3 minutes, then close the program and disconnect the cable. Adaptation completed.

Remote sensing adaptation nissan cars with electronic gas pedal:

• Turn on the ignition for at least 2 seconds.
• We turn off the ignition. The accelerator pedal adaptation procedure is complete.
• We carry out the adaptation of the throttle valve. Accelerator pedal released.
• We turn on the ignition and immediately turn it off. We expect at least 10 seconds. During this period of time, the damper moves.
• We teach the air supply at idle (XX).
• We warm up the engine and gearbox to operating temperature.
• Turn off all electrical equipment in the car.
• We start the engine and bring it to operating temperature.
• Turn off the ignition and wait at least 10 seconds.
• Fully release the accelerator pedal.
• Turn on the ignition and wait at least 3 seconds.
• Within 5 seconds, we press the accelerator pedal five times, after which we wait 7 seconds.
• Pressing the accelerator pedal, hold it until the CHECK stops flashing and lights up constantly (it takes about 20 seconds).
• After the CHEK lights up constantly, within 3 seconds it is necessary to release the pedal.
• We start the engine to work on XX.
• We press the pedal several times to check the stability of the XX.

Adaptation of remote sensing on VW Passat B5:

• We warm up the engine to operating temperature and turn off the car.
• We turn on the ignition, but the engine does not start.
• We connect the cable to the diagnostic connector and run the program.
• We enter section 01-engine.
• We enter the basic settings (04).
• We select in the adaptation of the damper - 060 for vehicles with electronic control damper, and value 098 for vehicles with cable-operated damper.
• We start adaptation.
• We are waiting for the entry on the screen "ADP RUN" and the subsequent entry "ADP OK".
• We return to the basic settings.
• We turn off the ignition. Adaptation completed.

Throttle adaptation Mitsubishi Lancer IX:

• We warm up the car engine.
• We connect the ScanDoc scanner to the diagnostic connector. IAC values ​​\u003d 0.
• We artificially restore the thermal gap in the damper (for example, we use a mixture of grease with oil waste).
• We start the engine and wait for the installation of stable revolutions of the twentieth.
• In the scanner, we launch the Sas mode and adjust the IAC position during adaptation.
• If the engine stalls when the “Sas mode” is turned on, then unscrew the IAC screw to increase the engine speed by XX;
• We set the speed in the range of 750-800 rpm.
• During adaptation, the IAC steps are set to 4-7;
• Forcibly complete the adaptation process and turn off the engine.
• We start the engine and check the IAC. If the adaptation was successful, then the IAC steps will be equal to 27-28.

Adaptation of remote sensing on the Audi A4:

• We warm up the engine to t=80 0 C and turn off the car. Then we connect the cable to the diagnostic connector and after turning on the ignition we start the diagnostic program (VAG-COM).
• We enter section 01-engine.
• We enter the section "adaptation-10".
• On channel 00, press the "read" button.
• We save the result and return to the factory settings.
• Enter the basic settings (04) and go to the measurement mode.
• We enter the value of channel 098, the start of adaptation.
• We are waiting for a message about the completion of the adaptation process.
• We return to the original section. Close the program and disconnect the cable.

. Our site will tell you how to do everything right.

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From this, you will find out how much anti-corrosion treatment of the bottom of a car costs.

When is it not necessary to perform the adaptation of the remote control?

It is worth noting that it is appropriate to carry out the above procedures using software and special diagnostic equipment in case of a damper settings failure. It does not matter if the electronic parameters are violated or the mechanical settings of the equipment are lost.

If the operation of the throttle is impaired due to wear, then it is more advisable to think about repairing or replacing the part. If suddenly, after the above steps, adaptation does not occur, it is worth checking the motor responsible for opening / closing the damper. There may not be enough power for the node to work properly.

Using the example of adapting the throttle valve of the above cars, we can conclude that absolutely all cars are characterized by some common processes.

So, for example, cleaning the damper body inside and out before starting adaptation is necessary for any brand of car.

The only difference is that in some cars the damper is adjusted using a cable, while in others it is done electronically. This difference will manifest itself in the choice of adaptation parameters.