honda: keep Bosch-A radard timing Honda-scoped

Keep the Bosch-A lead probability filter cadence change limited to the verified Honda Bosch-A path. Preserve the existing radar timestep for every other platform and add regression coverage for the gate and both timing paths.

Co-authored-by: JamesL787 <jamezelle1@gmail.com>

selfdrive/controls/radard.py

@@ -430,7 +430,8 @@ class RadarD:
     kf_dt = HONDA_BOSCH_A_RADAR_TS if self.honda_bosch_a_radar else radar_ts
     self.kalman_params = KalmanParams(kf_dt)
     self.g90_radar_filter = g90_radar_filter
-    self.lead_prob_filters = [FirstOrderFilter(0.0, 0.2, DT_MDL) for _ in range(2)]
+    lead_prob_dt = DT_MDL if self.honda_bosch_a_radar else radar_ts
+    self.lead_prob_filters = [FirstOrderFilter(0.0, 0.2, lead_prob_dt) for _ in range(2)]
     self.prev_lead_track_ids = [-1, -1]
     self.preferred_stale_track_ids = [-1, -1]
     self.preferred_challenger_stale_counts = [0, 0]

selfdrive/controls/tests/test_leads.py

@@ -6,10 +6,15 @@ from cereal import log
 import pytest
 
 from opendbc.car.toyota.values import CAR as TOYOTA
+from opendbc.car.honda.values import CAR as HONDA
 from openpilot.selfdrive.test.process_replay import replay_process_with_name
 from openpilot.selfdrive.controls.radard import (
+  DT_MDL,
+  HONDA_BOSCH_A_RADAR_TS,
+  RadarD,
   g90_low_speed_radar_lead_sane,
   g90_radar_lead_lateral_sane,
+  is_bosch_a_radar_car,
   match_vision_to_track,
 )
 
@@ -79,6 +84,18 @@ class TestLeads:
 
     assert track is None
 
+  def test_bosch_a_radard_path_is_gated_to_verified_honda_radar(self):
+    assert is_bosch_a_radar_car(SimpleNamespace(brand="honda", carFingerprint=HONDA.HONDA_CIVIC_BOSCH, radarUnavailable=False))
+    assert not is_bosch_a_radar_car(SimpleNamespace(brand="toyota", carFingerprint=HONDA.HONDA_CIVIC_BOSCH, radarUnavailable=False))
+    assert not is_bosch_a_radar_car(SimpleNamespace(brand="honda", carFingerprint=HONDA.HONDA_CIVIC_BOSCH, radarUnavailable=True))
+
+  def test_bosch_a_and_legacy_lead_filter_timesteps_are_scoped(self):
+    legacy = RadarD(radar_ts=0.06)
+    bosch_a = RadarD(radar_ts=0.06, honda_bosch_a_radar=True)
+    assert legacy.lead_prob_filters[0].dt == pytest.approx(0.06)
+    assert bosch_a.lead_prob_filters[0].dt == pytest.approx(DT_MDL)
+    assert bosch_a.kalman_params.A[0][1] == pytest.approx(HONDA_BOSCH_A_RADAR_TS)
+
   @pytest.mark.skipif(platform.system() == "Darwin", reason="SocketEventHandle requires eventfd")
   def test_radar_fault(self):
     # if there's no radar-related can traffic, radard should either not respond or respond with an error