  ButtonType = car.CarState.ButtonEvent.Type
  EventName = car.CarEvent.EventName
  
  class CarInterface(CarInterfaceBase):
  
    @staticmethod
    def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
      ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
 
</s> remove   def get_pid_accel_limits(current_speed, cruise_speed):
 </s> add   def get_pid_accel_limits(CP, current_speed, cruise_speed): </s> remove ACCEL_MIN = -4.0
 </s> add ACCEL_MIN = -3.5
  @staticmethod
  def get_pid_accel_limits(CP, current_speed, cruise_speed):
    params = CarControllerParams()
    return params.ACCEL_MIN, params.ACCEL_MAX
  ButtonType = car.CarState.ButtonEvent.Type
  EventName = car.CarEvent.EventName
  
  class CarInterface(CarInterfaceBase):
  @staticmethod
  def get_pid_accel_limits(CP, current_speed, cruise_speed):
    params = CarControllerParams()
    return params.ACCEL_MIN, params.ACCEL_MAX
  
    @staticmethod
    def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
      ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
keep keep keep add 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/gm/interface.py