From 4704670b33cf21454d3ea82bfac7fd4c165b7271 Mon Sep 17 00:00:00 2001
From: Mostafa Ayesh <mostafaayesh@outlook.com>
Date: Tue, 24 May 2022 13:10:07 -0400
Subject: [PATCH] honda pedal tuning

---
 selfdrive/car/honda/interface.py                    | 13 ++++++++++++-
 selfdrive/car/honda/values.py                       |  2 ++
 .../controls/lib/longitudinal_mpc_lib/long_mpc.py   |  4 ++--
 selfdrive/controls/lib/longitudinal_planner.py      |  2 +-
 4 files changed, 17 insertions(+), 4 deletions(-)

diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 2176da452e2f19..955e94b166ba78 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -31,7 +31,10 @@ def get_pid_accel_limits(CP, current_speed, cruise_speed):
     else:
       # NIDECs don't allow acceleration near cruise_speed,
       # so limit limits of pid to prevent windup
-      ACCEL_MAX_VALS = [CarControllerParams.NIDEC_ACCEL_MAX, 0.2]
+      if CP.enableGasInterceptor:
+        ACCEL_MAX_VALS = [CarControllerParams.PEDAL_ACCEL_MAX, 1.5]
+      else: 
+        ACCEL_MAX_VALS = [CarControllerParams.NIDEC_ACCEL_MAX, 0.2]
       ACCEL_MAX_BP = [cruise_speed - 2., cruise_speed - .2]
       return CarControllerParams.NIDEC_ACCEL_MIN, interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)
 
@@ -81,6 +84,11 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # py
       ret.longitudinalTuning.kpV = [0.25]
       ret.longitudinalTuning.kiV = [0.05]
       ret.longitudinalActuatorDelayUpperBound = 0.5 # s
+    elif ret.enableGasInterceptor:
+      ret.longitudinalTuning.kpBP = [0., 11., 24., 37.] # 0, 25, 55, 85 mph, 
+      ret.longitudinalTuning.kpV = [1.2, 1.6, 1.9, 2.1]
+      ret.longitudinalTuning.kiBP = [0., 35.]
+      ret.longitudinalTuning.kiV = [0.54, 0.36]
     else:
       # default longitudinal tuning for all hondas
       ret.longitudinalTuning.kpBP = [0., 5., 35.]
@@ -88,6 +96,9 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # py
       ret.longitudinalTuning.kiBP = [0., 35.]
       ret.longitudinalTuning.kiV = [0.18, 0.12]
 
+    
+    
+
     eps_modified = False
     for fw in car_fw:
       if fw.ecu == "eps" and b"," in fw.fwVersion:
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index e62bd0a6d9248a..5a4f91e1cf8a5f 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -30,6 +30,8 @@ class CarControllerParams():
   BOSCH_GAS_LOOKUP_BP = [-0.2, 2.0]  # 2m/s^2
   BOSCH_GAS_LOOKUP_V = [0, 1600]
 
+  PEDAL_ACCEL_MAX = 3.2  # m/s^2
+
   def __init__(self, CP):
     self.STEER_MAX = CP.lateralParams.torqueBP[-1]
     # mirror of list (assuming first item is zero) for interp of signed request values
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index e0e0208d67f230..075df76f86b93a 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -295,8 +295,8 @@ def process_lead(self, lead):
     return lead_xv
 
   def set_accel_limits(self, min_a, max_a):
-    self.cruise_min_a = min_a
-    self.cruise_max_a = max_a
+    self.cruise_min_a = -3.2
+    self.cruise_max_a = 3.2
 
   def update(self, carstate, radarstate, v_cruise, prev_accel_constraint=False):
     v_ego = self.x0[1]
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 42965952e519d5..39c16276ba459d 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -21,7 +21,7 @@
 LON_MPC_STEP = 0.2  # first step is 0.2s
 AWARENESS_DECEL = -0.2  # car smoothly decel at .2m/s^2 when user is distracted
 A_CRUISE_MIN = -1.2
-A_CRUISE_MAX_VALS = [1.2, 1.2, 0.8, 0.6]
+A_CRUISE_MAX_VALS = [1.3, 1.2, 1.1, 1.0]
 A_CRUISE_MAX_BP = [0., 15., 25., 40.]
 
 # Lookup table for turns