      else:
        apply_accel = interp(accel, P.NIDEC_ACCEL_LOOKUP_BP, P.NIDEC_ACCEL_LOOKUP_V)
  
      # wind brake from air resistance decel at high speed
      wind_brake = interp(CS.out.vEgo, [0.0, 2.3, 20.0], [0.0, 0.0, 0.1])
      if CS.CP.carFingerprint in OLD_NIDEC_LONG_CONTROL:
        #pcm_speed = pcm_speed
        pcm_accel = int(clip(pcm_accel, 0, 1) * 0xc6)
      elif CS.CP.carFingerprint == CAR.ACURA_ILX:
        pcm_speed = CS.out.vEgo + apply_accel
 
</s> remove       if apply_accel > 0:
        pcm_speed = 100
        max_accel = interp(CS.out.vEgo, P.NIDEC_MAX_ACCEL_BP, P.NIDEC_MAX_ACCEL_V)
        pcm_accel = int(clip(apply_accel/max_accel, 0.0, 1.0) * 0xc6)
      else:
        decel = max(0.0, -accel)
        pcm_speed = CS.out.vEgo * clip((wind_brake - decel)/max(wind_brake, .01), 0.0, 1.0)
        pcm_accel = int(0)


 </s> add       max_accel = interp(CS.out.vEgo, P.NIDEC_MAX_ACCEL_BP, P.NIDEC_MAX_ACCEL_V)
      pcm_accel = int(clip(apply_accel/max_accel, 0.0, 1.0) * 0xc6)
      pcm_speed_BP = [-wind_brake,
                      -wind_brake*(3/4),
                      0.0]
      pcm_speed_V = [0.0,
                     CS.out.vEgo + apply_accel/2.0 - 2.0,
                     CS.out.vEgo + apply_accel/2.0 + 2.0]
      pcm_speed = interp(accel, pcm_speed_BP, pcm_speed_V) </s> remove             apply_gas = clip(actuators.gas, 0., 1.)
 </s> add             apply_gas = clip(gas_mult * actuators.gas, 0., 1.)
    wind_brake = interp(CS.out.vEgo, [0.0, 2.3, 35.0], [0.0, 0.0, 0.15])
      else:
        apply_accel = interp(accel, P.NIDEC_ACCEL_LOOKUP_BP, P.NIDEC_ACCEL_LOOKUP_V)
  
      # wind brake from air resistance decel at high speed
    wind_brake = interp(CS.out.vEgo, [0.0, 2.3, 35.0], [0.0, 0.0, 0.15])
      if CS.CP.carFingerprint in OLD_NIDEC_LONG_CONTROL:
        #pcm_speed = pcm_speed
        pcm_accel = int(clip(pcm_accel, 0, 1) * 0xc6)
      elif CS.CP.carFingerprint == CAR.ACURA_ILX:
        pcm_speed = CS.out.vEgo + apply_accel
keep keep keep keep replace keep keep keep keep keep
 Retune nidec long (#21941)

* retune civic

* add a deadzone

* large diffs may not be ok

* typo

* seems smooth

* improve pedal

* back to normal

* new ref

* new ref 
selfdrive/car/honda/carcontroller.py