  # WARNING: this value was determined based on the model's training distribution,
  #          model predictions above this speed can be unpredictable
  MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS  # 135 + 4 = 86 mph
  ACCEL_MAX = 2.0
  ACCEL_MIN = -4.0
  
  
  # generic car and radar interfaces
  
  
 
</s> remove   def get_pid_accel_limits(current_speed, cruise_speed):
 </s> add   def get_pid_accel_limits(CP, current_speed, cruise_speed):
ACCEL_MIN = -3.5
  # WARNING: this value was determined based on the model's training distribution,
  #          model predictions above this speed can be unpredictable
  MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS  # 135 + 4 = 86 mph
  ACCEL_MAX = 2.0
ACCEL_MIN = -3.5
  
  
  # generic car and radar interfaces
  
  
keep keep keep keep replace keep keep keep keep keep
 Clean up PID controller ACCEL_MIN/ACCEL_MAX (#22148)

* use ISO 15622:2018 limits in PID controller

* allow more for nidec

* limit PID inputs

* CP is not needed

* add GM

* not used

* update ref

* fix honda bosch 
selfdrive/car/interfaces.py