From fe49fbf8ec56733c0cbab45cde31df916f7a9fd3 Mon Sep 17 00:00:00 2001 From: royjr Date: Thu, 30 Mar 2023 15:18:32 -0400 Subject: [PATCH] Honda Bosch Radarless: update stopAccel to match actuation limits (#27740) * civic22_stop_faster * limit stopAccel to current safety model * Update selfdrive/car/honda/interface.py * Update selfdrive/car/honda/interface.py --------- Co-authored-by: Shane Smiskol --- 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 7314afd50a..51ddf1ac92 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -74,7 +74,7 @@ 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 uses -4.0 m/s^2 once stopped but limited by safety model else: # default longitudinal tuning for all hondas ret.longitudinalTuning.kpBP = [0., 5., 35.]