honda nidec: fix no acceleration with pedal (#22368)

4 years ago · 4c0b82308d
parent 69b4872364
commit 4c0b82308d
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@ -232,7 +232,7 @@ class CarController():
            gas_mult = interp(CS.out.vEgo, [0., 10.], [0.4, 1.0])
            # send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas.
            # This prevents unexpected pedal range rescaling
-            apply_gas = clip(gas_mult * (gas - brake + wind_brake*3/4), 0., 1.)
+            apply_gas = clip(gas_mult * gas, 0., 1.)
            can_sends.append(create_gas_command(self.packer, apply_gas, idx))

    hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_car,