civic22_stop_faster

limit stopAccel to current safety model
2 years ago · 5baac46e10
parent ab55d06a96
commit 5baac46e10
1 changed files with 2 additions and 1 deletions
--- 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.]