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Honda

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firestar5683
2026-02-17 21:02:05 -06:00
parent 1a77897c3a
commit 259ac19499
1 changed files with 7 additions and 4 deletions
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selfdrive/car/honda/interface.py
+7 -4
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@@ -85,10 +85,10 @@ class CarInterface(CarInterfaceBase):
ret.longitudinalActuatorDelay = 0.5 # s
if candidate in HONDA_BOSCH_RADARLESS:
ret.stopAccel = CarControllerParams.BOSCH_ACCEL_MIN # stock uses -4.0 m/s^2 once stopped but limited by safety model
else:
# default longitudinal tuning for all hondas
ret.longitudinalTuning.kiBP = [0., 5., 35.]
ret.longitudinalTuning.kiV = [1.2, 0.8, 0.5]
# default longitudinal tuning for all hondas
ret.longitudinalTuning.kiBP = [0., 5., 35.]
ret.longitudinalTuning.kiV = [1.2, 0.8, 0.5]
eps_modified = False
for fw in car_fw:
@@ -117,6 +117,9 @@ class CarInterface(CarInterfaceBase):
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
if candidate == CAR.HONDA_CIVIC_BOSCH:
CarControllerParams.BOSCH_GAS_LOOKUP_V = [0, 750]
elif candidate == CAR.HONDA_ACCORD:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end