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Honda: handle ACC state consistent with ISO 15622:2018 (#22958)

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old-commit-hash: 14651866c2ec1dded8fae7ae3c9109acf2e79985
This commit is contained in:
Adeeb Shihadeh
2021-11-17 17:30:50 -08:00
committed by GitHub
parent 8844b560d0
commit 1792ebea6d
4 changed files with 10 additions and 5 deletions
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panda
+1 -1
Submodule panda updated: 571512a392...fec966d6fd
selfdrive/car/honda/carstate.py
+2 -3
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@@ -5,7 +5,7 @@ from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser
from selfdrive.config import Conversions as CV
from selfdrive.car.interfaces import CarStateBase
from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, SPEED_FACTOR, HONDA_BOSCH, HONDA_BOSCH_ALT_BRAKE_SIGNAL
from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, SPEED_FACTOR, HONDA_BOSCH, HONDA_NIDEC_ALT_MAIN, HONDA_BOSCH_ALT_BRAKE_SIGNAL
TransmissionType = car.CarParams.TransmissionType
@@ -161,8 +161,7 @@ class CarState(CarStateBase):
self.gearbox_msg = "GEARBOX_15T"
self.main_on_sig_msg = "SCM_FEEDBACK"
if CP.carFingerprint in (CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV,
CAR.ODYSSEY_CHN, CAR.PILOT, CAR.PILOT_2019, CAR.PASSPORT, CAR.RIDGELINE):
if CP.carFingerprint in HONDA_NIDEC_ALT_MAIN:
self.main_on_sig_msg = "SCM_BUTTONS"
self.shifter_values = can_define.dv[self.gearbox_msg]["GEAR_SHIFTER"]
selfdrive/car/honda/interface.py
+5 -1
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@@ -3,7 +3,7 @@ from cereal import car
from panda import Panda
from common.numpy_fast import interp
from common.params import Params
from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, CAR, HONDA_BOSCH, HONDA_BOSCH_ALT_BRAKE_SIGNAL
from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_MAIN, HONDA_BOSCH_ALT_BRAKE_SIGNAL
from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
from selfdrive.car.disable_ecu import disable_ecu
@@ -299,6 +299,10 @@ class CarInterface(CarInterfaceBase):
if candidate in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_ALT_BRAKE
# These cars use an alternate main on message
if candidate in HONDA_NIDEC_ALT_MAIN:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_NIDEC_ALT
if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_BOSCH_LONG
selfdrive/car/honda/values.py
+2
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@@ -1365,5 +1365,7 @@ SPEED_FACTOR = {
}
HONDA_NIDEC_ALT_PCM_ACCEL = set([CAR.ODYSSEY])
HONDA_NIDEC_ALT_MAIN = set([CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN,
CAR.PILOT, CAR.PILOT_2019, CAR.PASSPORT, CAR.RIDGELINE])
HONDA_BOSCH = set([CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E])
HONDA_BOSCH_ALT_BRAKE_SIGNAL = set([CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G])