diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index ee2c86092..94e430590 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -249,17 +249,7 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 0.82 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]] - elif candidate == CAR.PILOT: - stop_and_go = False - ret.mass = 4204. * CV.LB_TO_KG + STD_CARGO_KG # average weight - ret.wheelbase = 2.82 - ret.centerToFront = ret.wheelbase * 0.428 - ret.steerRatio = 17.25 # as spec - ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end - tire_stiffness_factor = 0.444 - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]] - - elif candidate == CAR.PASSPORT: + elif candidate in (CAR.PILOT, CAR.PASSPORT): stop_and_go = False ret.mass = 4204. * CV.LB_TO_KG + STD_CARGO_KG # average weight ret.wheelbase = 2.82