more tuning

Author: mvl-boston

opendbc/car/honda/carcontroller.py

@@ -223,22 +223,38 @@ def update(self, CC, CS, now_nanos):
           pump_on, self.last_pump_ts = brake_pump_hysteresis(apply_brake, self.apply_brake_last, self.last_pump_ts, ts)
 
           pcm_override = True
-          can_sends.append(hondacan.create_brake_command(self.packer, self.CAN, apply_brake, pump_on,
+
+          stopping = actuators.longControlState == LongCtrlState.stopping
+          brake = np.clip (-brake, 0, NIDEC_BRAKE_MAX )
+          can_sends.append(hondacan.create_brake_command(self.packer, self.CAN, brake, stopping,
                                                          pcm_override, pcm_cancel_cmd, fcw_display,
                                                          self.CP.carFingerprint, CS.stock_brake))
+          
+          # can_sends.append(hondacan.create_brake_command(self.packer, self.CAN, apply_brake, pump_on,
+           #                                              pcm_override, pcm_cancel_cmd, fcw_display,
+            #                                              self.CP.carFingerprint, CS.stock_brake))
+          
+          
           self.apply_brake_last = apply_brake
           self.brake = apply_brake / self.params.NIDEC_BRAKE_MAX
 
     # Send dashboard UI commands.
     # On Nidec, this controls longitudinal positive acceleration
     if self.frame % 10 == 0:
-      hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible,
+      gas = np.clip ( gas, 0, NIDEC_GAS_MAX )
+            hud = HUDData(int(gas), int(round(hud_v_cruise)), hud_control.leadVisible,
                     hud_control.lanesVisible, fcw_display, acc_alert, steer_required, hud_control.leadDistanceBars)
+      #      hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible,
+       #             hud_control.lanesVisible, fcw_display, acc_alert, steer_required, hud_control.leadDistanceBars)
+      
       can_sends.extend(hondacan.create_ui_commands(self.packer, self.CAN, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, CS.acc_hud, CS.lkas_hud))
 
       if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH:
         self.speed = pcm_speed
-        self.gas = pcm_accel / self.params.NIDEC_GAS_MAX
+        self.gas = gas
+        self.brake = brake
+        # self.speed = pcm_speed
+        # self.gas = pcm_accel / self.params.NIDEC_GAS_MAX
 
     new_actuators = actuators.as_builder()
     new_actuators.speed = self.speed