From ef6dbcdc8c46ad5b7681a469a901027813e111ca Mon Sep 17 00:00:00 2001
From: AlexandreSato <sato_alexandre@hotmail.com>
Date: Wed, 29 Mar 2023 11:04:09 -0300
Subject: [PATCH] Shane tunning

---
 selfdrive/car/honda/interface.py        | 21 ++++++++-------------
 selfdrive/car/torque_data/override.yaml |  2 +-
 2 files changed, 9 insertions(+), 14 deletions(-)

diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 5cc76a4270..fc37b99ebd 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -193,24 +193,19 @@ class CarInterface(CarInterfaceBase):
       tire_stiffness_factor = 0.75
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
 
-    elif candidate == CAR.HRV:
+    elif candidate in (CAR.HRV, CAR.HRV_2023):
       ret.mass = 3125 * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.61
       ret.centerToFront = ret.wheelbase * 0.41
-      ret.steerRatio = 15.2
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
       tire_stiffness_factor = 0.5
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
-      ret.wheelSpeedFactor = 1.025
-    
-    elif candidate == CAR.HRV_2023:
-      ret.mass = 1305. + STD_CARGO_KG
-      ret.wheelbase = 2.61
-      ret.centerToFront = ret.wheelbase * 0.41
-      ret.steerRatio = 15.38
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      tire_stiffness_factor = 0.5
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]      
+      if candidate == CAR.HRV:
+        ret.steerRatio = 15.2
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
+        ret.wheelSpeedFactor = 1.025
+      else:
+        ret.steerRatio = 14
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]  # TODO: can probably use some tuning
 
     elif candidate == CAR.ACURA_RDX:
       ret.mass = 3935. * CV.LB_TO_KG + STD_CARGO_KG
diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml
index a40cf4b368..52538ab8c9 100644
--- a/selfdrive/car/torque_data/override.yaml
+++ b/selfdrive/car/torque_data/override.yaml
@@ -50,4 +50,4 @@ mock: [10.0, 10, 0.0]
 
 # Manually checked
 HONDA CIVIC 2022: [2.5, 1.2, 0.15]
-HONDA HR-V 2023: [2.5, 1.2, 0.15]
+HONDA HR-V 2023: [2.5, 1.2, 0.2]