From 9c9fc2d1b76db8c6884140e525b6a97b7b2c89a5 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Sat, 2 Oct 2021 16:36:58 +0200 Subject: [PATCH] less lag --- selfdrive/car/honda/interface.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 300f6e639c..2617976e83 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -39,7 +39,6 @@ class CarInterface(CarInterfaceBase): # Disable the radar and let openpilot control longitudinal # WARNING: THIS DISABLES AEB! ret.openpilotLongitudinalControl = Params().get_bool("DisableRadar") - ret.longitudinalActuatorDelayUpperBound = 1.0 # s ret.pcmCruise = not ret.openpilotLongitudinalControl else: @@ -68,6 +67,7 @@ class CarInterface(CarInterfaceBase): if candidate in HONDA_BOSCH: ret.longitudinalTuning.kpV = [0.1] ret.longitudinalTuning.kiV = [0.0] + ret.longitudinalActuatorDelayUpperBound = 0.5 # s else: # default longitudinal tuning for all hondas ret.longitudinalTuning.kpBP = [0., 5., 35.]