From f69599fabbd44f36d2d9cd08aea5739c897766e1 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Fri, 1 May 2026 14:34:17 -0500
Subject: [PATCH] honda wobble

---
 .../opendbc/car/honda/carcontroller.py        | 19 ++++++++++---------
 .../opendbc/car/honda/tests/test_honda.py     |  6 +++---
 2 files changed, 13 insertions(+), 12 deletions(-)

diff --git a/opendbc_repo/opendbc/car/honda/carcontroller.py b/opendbc_repo/opendbc/car/honda/carcontroller.py
index fb9c1d4bb..4edd88615 100644
--- a/opendbc_repo/opendbc/car/honda/carcontroller.py
+++ b/opendbc_repo/opendbc/car/honda/carcontroller.py
@@ -49,20 +49,21 @@ def get_civic_bosch_modified_steering_pressed(raw_pressed: bool, steering_torque
   torque_cmd_abs = abs(torque_cmd)
 
   if raw_pressed:
-    if was_pressed:
-      trigger_s = 0.08
+    if torque_product < 0.0:
+      trigger_s = 0.08 if was_pressed else 0.10
+      rise_rate = 1.0
     elif torque_cmd_abs < 0.10:
-      trigger_s = 0.18
-    elif torque_product < 0.0:
-      trigger_s = 0.10
+      trigger_s = 0.20 if was_pressed else 0.24
+      rise_rate = 0.75
     else:
-      trigger_s = 0.60
+      trigger_s = 0.70 if was_pressed else 0.80
+      rise_rate = 0.50
 
-    filter_s = min(1.0, filter_s + DT_CTRL)
+    filter_s = min(1.0, filter_s + (rise_rate * DT_CTRL))
     steering_pressed = filter_s >= trigger_s
   else:
-    filter_s = max(0.0, filter_s - 6.0 * DT_CTRL)
-    steering_pressed = filter_s > 0.06 and was_pressed
+    filter_s = max(0.0, filter_s - 8.0 * DT_CTRL)
+    steering_pressed = filter_s > 0.04 and was_pressed
 
   return filter_s, steering_pressed
 
diff --git a/opendbc_repo/opendbc/car/honda/tests/test_honda.py b/opendbc_repo/opendbc/car/honda/tests/test_honda.py
index ac22d4061..f4f40567b 100644
--- a/opendbc_repo/opendbc/car/honda/tests/test_honda.py
+++ b/opendbc_repo/opendbc/car/honda/tests/test_honda.py
@@ -49,16 +49,16 @@ class TestHondaFingerprint:
     assert not pressed
     assert filter_s > 0.01
 
-    filter_s = 0.58
+    filter_s = 0.79
     filter_s, pressed = get_civic_bosch_modified_steering_pressed(True, 1500.0, 0.8, filter_s, False)
     assert not pressed
 
-    filter_s = 0.59
+    filter_s = 0.80
     filter_s, pressed = get_civic_bosch_modified_steering_pressed(True, 1500.0, 0.8, filter_s, False)
     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, 0.11, False)
+    filter_s, pressed = get_civic_bosch_modified_steering_pressed(True, -1500.0, 0.8, 0.07, False)
     assert pressed
 
   def test_official_modified_eps_firmwares_restored(self):