IQ.Pilot Release Commit @ d56a848

artifacts/iqpilot_hephaestusd_private/manifest.json

@@ -16,27 +16,27 @@
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@@ -46,12 +46,12 @@
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   "python/iqpilot_private/konn3kt/hephaestus/__init__.py": {
@@ -61,67 +61,67 @@
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   "python/iqpilot_private/konn3kt/uploaderd/__init__.py": {
@@ -131,7 +131,7 @@
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   "runtime": {
@@ -171,25 +171,25 @@
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+    "python/iqpilot_private/konn3kt/uploaderd/iquploaderd.cpython-312-aarch64-linux-gnu.so": "z0E4SOYtZhBaecH5zgrFHByCuAeF0YS6MFRjvDyeMNySfL8SxUOXf7oWzsnrxvisPSLScegyFFgPtmusMcElDw=="
   }
 }

cereal/custom.capnp

@@ -332,6 +332,7 @@ struct IQCarParams @0xd4189b5c8aca9f78 {
 
   iqLateralNet @4 :LateralNet;
   longitudinalStoppingSpeedOverride @5 :Float32;  # m/s; zero keeps the upstream default
+  stoppingDecelRateOverride @6 :Float32;          # m/s^3; zero keeps the upstream default
 
   struct LateralNet {
     fuzzyFingerprint @0 :Bool;

iqdbc_repo/iqdbc/car/honda/fingerprints.py

@@ -994,6 +994,7 @@ FW_VERSIONS = {
       b'8S102-T56-A070\x00\x00',
       b'8S102-T60-AA10\x00\x00',
       b'8S102-T64-A040\x00\x00',
+      b'8S102-T64-A050\x00\x00',
     ],
     (Ecu.vsa, 0x18da28f1, None): [
       b'57114-T20-AB40\x00\x00',

iqdbc_repo/iqdbc/car/honda/interface.py

@@ -88,9 +88,11 @@ class CarInterface(CarInterfaceBase):
     ret.steerActuatorDelay = 0.1
 
     if candidate in HONDA_BOSCH:
-      ret.longitudinalActuatorDelay = 0.5 # s
       if candidate in HONDA_BOSCH_RADARLESS:
         ret.stopAccel = CarControllerParams.BOSCH_ACCEL_MIN  # stock uses -4.0 m/s^2 once stopped but limited by safety model
+        ret.longitudinalActuatorDelay = 0.25 # s
+      else:
+        ret.longitudinalActuatorDelay = 0.5 # s
     else:
       # default longitudinal tuning for all hondas
       ret.longitudinalTuning.kiBP = [0., 5., 35.]
@@ -335,6 +337,12 @@ class CarInterface(CarInterfaceBase):
 
     stock_cp.autoResumeSng = stock_cp.autoResumeSng or ret.enableGasInterceptor
 
+    if candidate == CAR.HONDA_CITY_7G:
+      ret.longitudinalStoppingSpeedOverride = 2.0
+      ret.stoppingDecelRateOverride = 0.3
+    else:
+      ret.longitudinalStoppingSpeedOverride = 0.5
+      ret.stoppingDecelRateOverride = 0.1
 
     return ret
 

iqdbc_repo/iqdbc/car/structs.py

@@ -52,6 +52,7 @@ class IQCarParams:
   pcmCruiseSpeed: bool = auto_field()
   enableGasInterceptor: bool = auto_field()
   longitudinalStoppingSpeedOverride: float = auto_field()
+  stoppingDecelRateOverride: float = auto_field()
 
   iqLateralNet: 'IQCarParams.LateralNet' = field(default_factory=lambda: IQCarParams.LateralNet())
 

iqdbc_repo/iqdbc/dbc/generator/honda/honda_bosch_radarless.dbc

@@ -7,7 +7,7 @@ CM_ "IMPORT _gearbox_common.dbc";
 
 BO_ 456 ACC_CONTROL: 8 XXX
  SG_ ACCEL_COMMAND : 7|12@0- (0.01,0) [0|0] "m/s^2" XXX
- SG_ IDLESTOP_ALLOW : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_REQUEST : 8|1@0+ (1,0) [0|1] "" XXX
  SG_ STANDSTILL : 9|1@0+ (1,0) [0|1] "" XXX
  SG_ CONTROL_ON : 10|1@0+ (1,0) [0|1] "" XXX
  SG_ BOH : 23|1@0+ (1,0) [0|1] "" XXX

selfdrive/controls/lib/longcontrol.py

@@ -47,6 +47,7 @@ class LongControl:
                              (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
                              rate=1 / DT_CTRL)
     self.last_output_accel = 0.0
+    self.stopping_decel_rate = CP_IQ.stoppingDecelRateOverride or 1.0
     self.smooth = SmoothStopController()
 
   def reset(self):
@@ -75,7 +76,7 @@ class LongControl:
       if output_accel > self.CP.stopAccel:
         output_accel = min(output_accel, 0.0)
         # TODO: can we just go straight to stopAccel?
-        output_accel -= 1.0 * DT_CTRL  # m/s^2/s while trying to stop
+        output_accel -= self.stopping_decel_rate * DT_CTRL  # m/s^2/s while trying to stop
       self.reset()
       self.smooth.reset()