From f7d79c613e2a1b6ae07e1d3255c378fa0ddb45e5 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Sun, 3 May 2026 00:15:15 -0500
Subject: [PATCH] honda

---
 selfdrive/controls/lib/latcontrol_pid.py    | 10 +++++-----
 selfdrive/controls/tests/test_latcontrol.py |  3 ++-
 2 files changed, 7 insertions(+), 6 deletions(-)

diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py
index 4cdfaf703..14e9b129b 100644
--- a/selfdrive/controls/lib/latcontrol_pid.py
+++ b/selfdrive/controls/lib/latcontrol_pid.py
@@ -15,13 +15,13 @@ def civic_bosch_modified_lateral_testing_ground_active() -> bool:
 def get_civic_bosch_modified_pid_output_scale(desired_angle_deg: float, desired_angle_delta_deg: float, v_ego: float) -> float:
   abs_angle = abs(desired_angle_deg)
   speed_weight = min(max((v_ego - 4.0) / 10.0, 0.0), 1.0)
-  center_speed_weight = 0.60 + (0.40 * speed_weight)
-  center_weight = min(max((14.0 - abs_angle) / 14.0, 0.0), 1.0)
-  angle_weight = min(max((abs_angle - 14.0) / 14.0, 0.0), 1.0)
+  center_speed_weight = 0.65 + (0.35 * speed_weight)
+  center_weight = min(max((16.0 - abs_angle) / 16.0, 0.0), 1.0)
+  angle_weight = min(max((abs_angle - 16.0) / 12.0, 0.0), 1.0)
   phase = desired_angle_deg * desired_angle_delta_deg
 
   is_left = desired_angle_deg > 0.0
-  center_taper = 0.26
+  center_taper = 0.30
   base_scale = 0.10 if is_left else 0.12
   turn_in_scale = 0.10 if is_left else 0.14
   unwind_scale = 0.14 if is_left else 0.20
@@ -33,7 +33,7 @@ def get_civic_bosch_modified_pid_output_scale(desired_angle_deg: float, desired_
   elif phase < -0.2:
     scale -= speed_weight * angle_weight * unwind_scale
 
-  return max(scale, 0.78)
+  return max(scale, 0.74)
 
 
 class LatControlPID(LatControl):
diff --git a/selfdrive/controls/tests/test_latcontrol.py b/selfdrive/controls/tests/test_latcontrol.py
index 811a2bf3a..c48248db5 100644
--- a/selfdrive/controls/tests/test_latcontrol.py
+++ b/selfdrive/controls/tests/test_latcontrol.py
@@ -384,8 +384,9 @@ class TestLatControl:
     assert get_civic_bosch_modified_pid_output_scale(8.0, 0.0, 12.0) < 1.0
     assert get_civic_bosch_modified_pid_output_scale(10.0, 0.0, 12.0) < 1.0
     assert get_civic_bosch_modified_pid_output_scale(12.0, 0.0, 12.0) < 1.0
+    assert get_civic_bosch_modified_pid_output_scale(14.0, 0.0, 12.0) < 1.0
     assert get_civic_bosch_modified_pid_output_scale(0.0, 0.0, 6.0) < 0.9
-    assert get_civic_bosch_modified_pid_output_scale(14.0, 0.0, 12.0) > get_civic_bosch_modified_pid_output_scale(8.0, 0.0, 12.0)
+    assert get_civic_bosch_modified_pid_output_scale(16.0, 0.0, 12.0) > get_civic_bosch_modified_pid_output_scale(8.0, 0.0, 12.0)
     assert get_civic_bosch_modified_pid_output_scale(20.0, 0.5, 12.0) > get_civic_bosch_modified_pid_output_scale(20.0, 0.0, 12.0)
     assert get_civic_bosch_modified_pid_output_scale(-20.0, -0.5, 12.0) > get_civic_bosch_modified_pid_output_scale(-20.0, 0.0, 12.0)
     assert get_civic_bosch_modified_pid_output_scale(20.0, -0.5, 12.0) < get_civic_bosch_modified_pid_output_scale(20.0, 0.0, 12.0)