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Allow Honda Nidec vehicles with comma pedal to drive at max speed. (#26902)

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Without this Honda Nidec vehicles with the comma pedal will drive around 2 mph under the max speed.
old-commit-hash: d4c5b8d6f4ba7606f6823ce523c66a7e270b924b
This commit is contained in:
Rob Chouinard
2023-02-15 01:24:13 -05:00
committed by GitHub
parent 7357149f5a
commit 42626606dd
1 changed files with 2 additions and 0 deletions
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selfdrive/car/honda/interface.py
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@@ -21,6 +21,8 @@ class CarInterface(CarInterfaceBase):
def get_pid_accel_limits(CP, current_speed, cruise_speed):
if CP.carFingerprint in HONDA_BOSCH:
return CarControllerParams.BOSCH_ACCEL_MIN, CarControllerParams.BOSCH_ACCEL_MAX
elif CP.enableGasInterceptor:
return CarControllerParams.NIDEC_ACCEL_MIN, CarControllerParams.NIDEC_ACCEL_MAX
else:
# NIDECs don't allow acceleration near cruise_speed,
# so limit limits of pid to prevent windup