Update interface.py get_pid_accel_limits function

Added Honda Clarity specific comma pedal interpolation logic
FrogAi · Dec 26, 2024 · 0806f43 · 0806f43
1 parent 91ca0a3
commit 0806f43
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
@@ -25,7 +25,11 @@ 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:
+    elif CP.enableGasInterceptor and (CP.carFingerprint == (CAR.HONDA_CLARITY)):
+      # Honda Clarity specific pedal interpolation
+      CLARITY_PEDAL_MAX = interp(current_speed, [0, 2.2, 4.5, 6.7, 22.3, 44.7], [3.5, 3.0, 2.5, 1.6, 1.0, 1.0])
+      return CarControllerParams.NIDEC_ACCEL_MIN, CLARITY_PEDAL_MAX
+    elif CP.enableGasInterceptor and (CP.carFingerprint != (CAR.HONDA_CLARITY)):
       return CarControllerParams.NIDEC_ACCEL_MIN, CarControllerParams.NIDEC_ACCEL_MAX
     else:
       # NIDECs don't allow acceleration near cruise_speed,