use CarControllerParams

selfdrive/car/honda/carcontroller.py

@@ -217,7 +217,7 @@ class CarController():
 
         else:
           apply_brake = clip(self.brake_last - wind_brake, 0.0, 1.0)
-          apply_brake = int(clip(apply_brake * P.BRAKE_MAX, 0, P.BRAKE_MAX - 1))
+          apply_brake = int(clip(apply_brake * P.NIDEC_BRAKE_MAX, 0, P.NIDEC_BRAKE_MAX - 1))
           pump_on, self.last_pump_ts = brake_pump_hysteresis(apply_brake, self.apply_brake_last, self.last_pump_ts, ts)
 
           pcm_override = True

selfdrive/car/honda/hondacan.py

@@ -1,4 +1,4 @@
-from selfdrive.car.honda.values import HONDA_BOSCH, CAR
+from selfdrive.car.honda.values import HONDA_BOSCH, CAR, CarControllerParams
 from selfdrive.config import Conversions as CV
 
 # CAN bus layout with relay
@@ -46,12 +46,12 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_
 def create_acc_commands(packer, enabled, accel, gas, idx, stopping, starting, car_fingerprint):
   commands = []
   bus = get_pt_bus(car_fingerprint)
+  min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0]
 
   control_on = 5 if enabled else 0
-  # no gas = -30000
+  gas_command = gas if enabled and accel > min_gas_accel else -30000
-  gas_command = gas if enabled and gas > -0.2 else -30000
   accel_command = accel if enabled else 0
-  braking = 1 if enabled and accel < -0.2 else 0
+  braking = 1 if enabled and accel < min_gas_accel else 0
   standstill = 1 if enabled and stopping else 0
   standstill_release = 1 if enabled and starting else 0
 

selfdrive/car/honda/values.py

@@ -4,6 +4,7 @@ from selfdrive.car import dbc_dict
 Ecu = car.CarParams.Ecu
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
+
 class CarControllerParams():
   # Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
   # perform the closed loop control, and might need some
@@ -13,11 +14,21 @@ class CarControllerParams():
   NIDEC_ACCEL_MIN = -4.0  # m/s^2
   NIDEC_ACCEL_MAX = 1.6  # m/s^2, lower than 2.0 m/s^2 for tuning reasons
 
+  NIDEC_ACCEL_LOOKUP_BP = [-1., 0., .6]
+  NIDEC_ACCEL_LOOKUP_V = [-4.8, 0., 2.0]
+
+  NIDEC_MAX_ACCEL_V = [0.5, 2.4, 1.4, 0.6]
+  NIDEC_MAX_ACCEL_BP = [0.0, 4.0, 10., 20.]
+
+  NIDEC_BRAKE_MAX = 1024 // 4
+
   BOSCH_ACCEL_MIN = -3.5  # m/s^2
   BOSCH_ACCEL_MAX = 2.0  # m/s^2
 
+  BOSCH_GAS_LOOKUP_BP = [-0.2, 2.0]  # 2m/s^2
+  BOSCH_GAS_LOOKUP_V = [0, 1600]
+
   def __init__(self, CP):
-    self.BRAKE_MAX = 1024//4
     self.STEER_MAX = CP.lateralParams.torqueBP[-1]
     # mirror of list (assuming first item is zero) for interp of signed request values
     assert(CP.lateralParams.torqueBP[0] == 0)
@@ -25,15 +36,6 @@ class CarControllerParams():
     self.STEER_LOOKUP_BP = [v * -1 for v in CP.lateralParams.torqueBP][1:][::-1] + list(CP.lateralParams.torqueBP)
     self.STEER_LOOKUP_V = [v * -1 for v in CP.lateralParams.torqueV][1:][::-1] + list(CP.lateralParams.torqueV)
 
-    self.NIDEC_ACCEL_LOOKUP_BP = [-1., 0., .6]
-    self.NIDEC_ACCEL_LOOKUP_V = [-4.8, 0., 2.0]
-
-    self.NIDEC_MAX_ACCEL_V = [0.5, 2.4, 1.4, 0.6]
-    self.NIDEC_MAX_ACCEL_BP = [0.0, 4.0, 10., 20.]
-
-    self.BOSCH_GAS_LOOKUP_BP = [-0.2, 2.0]  # 2m/s^2
-    self.BOSCH_GAS_LOOKUP_V = [0, 1600]
-
 
 # Car button codes
 class CruiseButtons: