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honda nidec safe windbrake interp (#21972)

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This commit is contained in:
HaraldSchafer
2021-08-19 19:59:29 +02:00
committed by GitHub
parent 6b76da5c5e
commit e364ca2896
1 changed files with 3 additions and 3 deletions
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selfdrive/car/honda/carcontroller.py
+3 -3
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@@ -162,7 +162,7 @@ class CarController():
apply_accel = interp(accel, P.NIDEC_ACCEL_LOOKUP_BP, P.NIDEC_ACCEL_LOOKUP_V)
# wind brake from air resistance decel at high speed
wind_brake = interp(CS.out.vEgo, [0.0, 2.3, 35.0], [0.0, 0.0, 0.15])
wind_brake = interp(CS.out.vEgo, [0.0, 2.3, 35.0], [0.001, 0.002, 0.15])
if CS.CP.carFingerprint in OLD_NIDEC_LONG_CONTROL:
#pcm_speed = pcm_speed
pcm_accel = int(clip(pcm_accel, 0, 1) * 0xc6)
@@ -173,8 +173,8 @@ class CarController():
-wind_brake*(3/4),
0.0]
pcm_speed_V = [0.0,
CS.out.vEgo + apply_accel/2.0 - 2.0,
CS.out.vEgo + apply_accel/2.0 + 2.0]
clip(CS.out.vEgo + apply_accel/2.0 - 2.0, 0.0, 100.0),
clip(CS.out.vEgo + apply_accel/2.0 + 2.0, 0.0, 100.0)]
pcm_speed = interp(accel, pcm_speed_BP, pcm_speed_V)
if not CS.CP.openpilotLongitudinalControl: