From c93f3b10f725ee581884faa764407866fb69733c Mon Sep 17 00:00:00 2001
From: HaraldSchafer <harald.the.engineer@gmail.com>
Date: Thu, 2 Sep 2021 12:05:03 -0700
Subject: [PATCH] no more old nidec (#22104)

---
 selfdrive/car/honda/carcontroller.py | 26 ++++++++++++--------------
 selfdrive/car/honda/values.py        |  1 -
 2 files changed, 12 insertions(+), 15 deletions(-)

diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index 9361fea286..e5f8c03926 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -5,7 +5,7 @@ from selfdrive.controls.lib.drive_helpers import rate_limit
 from common.numpy_fast import clip, interp
 from selfdrive.car import create_gas_command
 from selfdrive.car.honda import hondacan
-from selfdrive.car.honda.values import OLD_NIDEC_LONG_CONTROL, CruiseButtons, VISUAL_HUD, HONDA_BOSCH, CarControllerParams
+from selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, CarControllerParams
 from opendbc.can.packer import CANPacker
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -183,20 +183,18 @@ class CarController():
 
     # wind brake from air resistance decel at high speed
     wind_brake = interp(CS.out.vEgo, [0.0, 2.3, 35.0], [0.001, 0.002, 0.15])
-    if CS.CP.carFingerprint in OLD_NIDEC_LONG_CONTROL:
-      #pcm_speed = pcm_speed
-      pcm_accel = int(clip(pcm_accel, 0, 1) * 0xc6)
-    else:
-      max_accel = interp(CS.out.vEgo, P.NIDEC_MAX_ACCEL_BP, P.NIDEC_MAX_ACCEL_V)
-      # TODO this 1.44 is just to maintain previous behavior
-      pcm_accel = int(clip((accel/1.44)/max_accel, 0.0, 1.0) * 0xc6)
-      pcm_speed_BP = [-wind_brake,
-                      -wind_brake*(3/4),
+
+    # All of this is only relevant for HONDA NIDEC
+    max_accel = interp(CS.out.vEgo, P.NIDEC_MAX_ACCEL_BP, P.NIDEC_MAX_ACCEL_V)
+    # TODO this 1.44 is just to maintain previous behavior
+    pcm_accel = int(clip((accel/1.44)/max_accel, 0.0, 1.0) * 0xc6)
+    pcm_speed_BP = [-wind_brake,
+                    -wind_brake*(3/4),
                       0.0]
-      pcm_speed_V = [0.0,
-                     clip(CS.out.vEgo + accel/2.0 - 2.0, 0.0, 100.0),
-                     clip(CS.out.vEgo + accel/2.0 + 2.0, 0.0, 100.0)]
-      pcm_speed = interp(-brake, pcm_speed_BP, pcm_speed_V)
+    pcm_speed_V = [0.0,
+                   clip(CS.out.vEgo + accel/2.0 - 2.0, 0.0, 100.0),
+                   clip(CS.out.vEgo + accel/2.0 + 2.0, 0.0, 100.0)]
+    pcm_speed = interp(-brake, pcm_speed_BP, pcm_speed_V)
 
     if not CS.CP.openpilotLongitudinalControl:
       if (frame % 2) == 0:
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index 654d6e4e92..da87a7c409 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -1263,6 +1263,5 @@ SPEED_FACTOR = {
   CAR.HRV: 1.025,
 }
 
-OLD_NIDEC_LONG_CONTROL = set([CAR.ODYSSEY, CAR.ACURA_RDX, CAR.CRV, CAR.HRV])
 HONDA_BOSCH = set([CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G])
 HONDA_BOSCH_ALT_BRAKE_SIGNAL = set([CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G])