honda lpf

opendbc_repo/opendbc/car/honda/carcontroller.py

@@ -25,22 +25,37 @@ def get_civic_bosch_modified_steer_can_max(base_steer_can_max: int, CP) -> int:
 
 def get_civic_bosch_modified_torque_lpf_tau(torque_cmd: float, prev_torque_cmd: float, v_ego: float) -> float:
   torque_delta = abs(float(torque_cmd) - float(prev_torque_cmd))
+  torque_cmd_abs = abs(float(torque_cmd))
   sign_change = (float(torque_cmd) * float(prev_torque_cmd)) < 0.0
   highway = v_ego > (50.0 * 0.44704)
+  low_speed = v_ego < (30.0 * 0.44704)
 
   if highway:
     if sign_change and torque_delta > 0.15:
-      return 0.09
-    return 0.11
+      return 0.10
+    return 0.12
+
+  if sign_change and torque_cmd_abs < 0.25:
+    return 0.22 if low_speed else 0.18
+
+  if low_speed:
+    if torque_delta > 0.50:
+      return 0.14
+    elif torque_delta > 0.20:
+      return 0.16
+    elif torque_delta > 0.05:
+      return 0.18
+    else:
+      return 0.22
 
   if torque_delta > 0.50:
-    return 0.10
-  elif torque_delta > 0.20:
-    return 0.11
-  elif torque_delta > 0.05:
     return 0.12
-  else:
+  elif torque_delta > 0.20:
+    return 0.13
+  elif torque_delta > 0.05:
     return 0.15
+  else:
+    return 0.18
 
 
 def get_civic_bosch_modified_steering_pressed(raw_pressed: bool, steering_torque: float, torque_cmd: float,

opendbc_repo/opendbc/car/honda/tests/test_honda.py

@@ -40,9 +40,11 @@ class TestHondaFingerprint:
     assert get_civic_bosch_modified_steer_can_max(4096, CP) == 4096
 
   def test_modified_civic_torque_lpf_tau_reacts_to_sign_change(self):
-    assert get_civic_bosch_modified_torque_lpf_tau(0.7, -0.1, 25.0) == 0.09
-    assert get_civic_bosch_modified_torque_lpf_tau(0.02, 0.01, 12.0) == 0.15
-    assert get_civic_bosch_modified_torque_lpf_tau(0.30, 0.0, 12.0) == 0.11
+    assert get_civic_bosch_modified_torque_lpf_tau(0.7, -0.1, 25.0) == 0.10
+    assert get_civic_bosch_modified_torque_lpf_tau(0.02, -0.01, 8.0) == 0.22
+    assert get_civic_bosch_modified_torque_lpf_tau(0.02, 0.01, 12.0) == 0.22
+    assert get_civic_bosch_modified_torque_lpf_tau(0.30, 0.0, 12.0) == 0.16
+    assert get_civic_bosch_modified_torque_lpf_tau(0.30, 0.0, 20.0) == 0.13
 
   def test_modified_civic_steering_pressed_filter_rejects_short_same_direction_spikes(self):
     filter_s, pressed = get_civic_bosch_modified_steering_pressed(True, 1500.0, 0.8, 0.01, False)
@@ -58,7 +60,7 @@ class TestHondaFingerprint:
     assert pressed
 
   def test_modified_civic_steering_pressed_filter_allows_opposing_driver_torque_quickly(self):
-    filter_s, pressed = get_civic_bosch_modified_steering_pressed(True, -1500.0, 0.8, 0.07, False)
+    filter_s, pressed = get_civic_bosch_modified_steering_pressed(True, -1500.0, 0.8, 0.10, False)
     assert pressed
 
   def test_official_modified_eps_firmwares_restored(self):