From d4c5b8d6f4ba7606f6823ce523c66a7e270b924b Mon Sep 17 00:00:00 2001 From: Rob Chouinard Date: Wed, 15 Feb 2023 01:24:13 -0500 Subject: [PATCH] Allow Honda Nidec vehicles with comma pedal to drive at max speed. (#26902) Without this Honda Nidec vehicles with the comma pedal will drive around 2 mph under the max speed. --- selfdrive/car/honda/interface.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 66c0ce4275..d3cf9fa891 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -21,6 +21,8 @@ class CarInterface(CarInterfaceBase): def get_pid_accel_limits(CP, current_speed, cruise_speed): if CP.carFingerprint in HONDA_BOSCH: return CarControllerParams.BOSCH_ACCEL_MIN, CarControllerParams.BOSCH_ACCEL_MAX + elif CP.enableGasInterceptor: + return CarControllerParams.NIDEC_ACCEL_MIN, CarControllerParams.NIDEC_ACCEL_MAX else: # NIDECs don't allow acceleration near cruise_speed, # so limit limits of pid to prevent windup