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JamesL787claude
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Default NRDR minimum steer speed to 1 mph
NrdrMinSteerSpeed gates LKAS torque below the configured speed. The default was 0, which disables the gate entirely (vEgo < 0 is never true). Default it to 1 mph so no steering torque is commanded at a dead stop, released as soon as the car is rolling. The effective default lives in three places, all updated together: - honda/carcontroller.py: the get_int() fallback, which is what actually governs at runtime since return_default is False - manager.py: the one-shot seed for params that aren't yet persisted - params_keys.h: the declared default/stock pair, following the convention of the neighboring Nrdr keys (default == stock) Already the persisted value on the Clarity, so this only changes fresh installs and the other modified-EPS Hondas (Civic, Civic Bosch, Insight). Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
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Lines changed: 3 additions & 3 deletions

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‎common/libcommon.a‎

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‎common/params_keys.h‎

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@@ -500,7 +500,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
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{"ModelManifestVersion", {PERSISTENT, STRING, "", "", 1}},
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{"NrdrDriverOverrideThreshold", {PERSISTENT, INT, "2400", "2400", 2}},
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{"NrdrIncreaseOverrideTolerance", {PERSISTENT, BOOL, "0", "0", 2}},
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{"NrdrMinSteerSpeed", {PERSISTENT, INT, "0", "0", 2}},
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{"NrdrMinSteerSpeed", {PERSISTENT, INT, "1", "1", 2}},
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{"NrdrOverrideThresholdCenterBoost", {PERSISTENT, INT, "1200", "1200", 2}},
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{"NavigationUI", {PERSISTENT, BOOL, "1", "0", 1, SETTINGS_SIMPLE}},
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{"NNFF", {PERSISTENT, BOOL, "0", "0", 2}},

‎common/params_pyx.so‎

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‎opendbc_repo/opendbc/car/honda/carcontroller.py‎

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@@ -301,7 +301,7 @@ def _get_live_tuning_params(self):
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"stopping_decel_rate": float(np.clip(self.param_store.get_int("HondaStoppingDecelRate", default=30), 0, 100)) / 100.0,
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"ecu_matched_long": self.param_store.get_bool("NrdrHondaEcuMatchedLong", default=False),
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"increase_override_tolerance": self.param_store.get_bool("NrdrIncreaseOverrideTolerance", default=False),
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"min_steer_speed": float(np.clip(self.param_store.get_int("NrdrMinSteerSpeed", default=0), 0, 45)) * CV.MPH_TO_MS,
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"min_steer_speed": float(np.clip(self.param_store.get_int("NrdrMinSteerSpeed", default=1), 0, 45)) * CV.MPH_TO_MS,
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}
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def _update_steering_torque(self, CC, CS, live):

‎system/manager/manager.py‎

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@@ -709,7 +709,7 @@ def migrate_nrdr_honda_tuning_defaults(params: Params, params_cache: Params) ->
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"LatPScaleLowSpeed": 100,
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"LatPScaleStandard": 135,
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"NrdrDriverOverrideThreshold": 2400,
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"NrdrMinSteerSpeed": 0,
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"NrdrMinSteerSpeed": 1,
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"NrdrOverrideThresholdCenterBoost": 1200,
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}
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