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Honda Bosch Radarless: update stopAccel to match actuation limits (#27740)

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* civic22_stop_faster

* limit stopAccel to current safety model

* Update selfdrive/car/honda/interface.py

* Update selfdrive/car/honda/interface.py

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
This commit is contained in:
royjr
2023-03-30 15:18:32 -04:00
committed by GitHub
parent a9d342689c
commit fe49fbf8ec
1 changed files with 1 additions and 1 deletions
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selfdrive/car/honda/interface.py
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@@ -74,7 +74,7 @@ class CarInterface(CarInterfaceBase):
ret.longitudinalTuning.kiV = [0.05]
ret.longitudinalActuatorDelayUpperBound = 0.5 # s
if candidate in HONDA_BOSCH_RADARLESS:
ret.stopAccel = -4.0
ret.stopAccel = -3.5 # stock uses -4.0 m/s^2 once stopped but limited by safety model
else:
# default longitudinal tuning for all hondas
ret.longitudinalTuning.kpBP = [0., 5., 35.]