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Honda: update format of HONDA_CLARITY torqueBP values from hexadecimal to decimal #276

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Honda: update format of HONDA_CLARITY torqueBP values from hexadecimal to decimal #276

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4 changes: 2 additions & 2 deletions selfdrive/car/honda/interface.py
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Original file line number Diff line number Diff line change
Expand Up @@ -204,10 +204,10 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs, fr
for fw in car_fw:
if fw.ecu == "eps" and b"-" not in fw.fwVersion and b"," in fw.fwVersion:
ret.lateralTuning.pid.kf = 0.00004
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 0xA00, 0x3C00], [0, 2560, 3840]]
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 5760, 15360], [0, 2560, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.1575], [0.05175]]
elif fw.ecu == "eps" and b"-" in fw.fwVersion and b"," in fw.fwVersion:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 0xA00, 0x2800], [0, 2560, 3840]]
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 5760, 10240], [0, 2560, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]]
else:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
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