From 5baac46e10d59850ef34421a928eec89132ad76a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 29 Mar 2023 20:22:25 -0700
Subject: [PATCH] civic22_stop_faster

limit stopAccel to current safety model
---
 selfdrive/car/honda/interface.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index fc37b99ebd..a1c97c0c9b 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -74,7 +74,8 @@ 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 allows -4.0 but limited by safety model
+        ret.stoppingDecelRate = 2.0  # reach brake quickly after enabling
     else:
       # default longitudinal tuning for all hondas
       ret.longitudinalTuning.kpBP = [0., 5., 35.]