NIDEC pedal, good gas/brake transition (#22314)

* need gas to combat windbrake

* coasting deadzone

* no pcm gas and no pedal when braking

selfdrive/car/honda/carcontroller.py

@@ -188,20 +188,23 @@ class CarController():
                       0.5]
     # The Honda ODYSSEY seems to have different PCM_ACCEL
     # msgs, is it other cars too?
-    if CS.CP.carFingerprint in HONDA_NIDEC_ALT_PCM_ACCEL:
+    if CS.CP.enableGasInterceptor:
+      pcm_speed = 0.0
+      pcm_accel = int(0.0)
+    elif CS.CP.carFingerprint in HONDA_NIDEC_ALT_PCM_ACCEL:
       pcm_speed_V = [0.0,
                      clip(CS.out.vEgo - 3.0, 0.0, 100.0),
                      clip(CS.out.vEgo + 0.0, 0.0, 100.0),
                      clip(CS.out.vEgo + 5.0, 0.0, 100.0)]
+      pcm_speed = interp(gas-brake, pcm_speed_BP, pcm_speed_V)
       pcm_accel = int((1.0) * 0xc6)
     else:
       pcm_speed_V = [0.0,
                      clip(CS.out.vEgo - 2.0, 0.0, 100.0),
                      clip(CS.out.vEgo + 2.0, 0.0, 100.0),
                      clip(CS.out.vEgo + 5.0, 0.0, 100.0)]
-      pcm_accel = int(clip((accel/1.44)/max_accel, 0.0, 1.0) * 0xc6)
-
       pcm_speed = interp(gas-brake, pcm_speed_BP, pcm_speed_V)
+      pcm_accel = int(clip((accel/1.44)/max_accel, 0.0, 1.0) * 0xc6)
 
     if not CS.CP.openpilotLongitudinalControl:
       if (frame % 2) == 0:
@@ -238,7 +241,7 @@ 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, 0., 1.)
+            apply_gas = clip(gas_mult * (gas - brake + wind_brake*3/4), 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,