honda

opendbc_repo/opendbc/car/honda/hondacan.py

@@ -167,18 +167,19 @@ def create_acc_hud(packer, bus, CP, enabled, pcm_speed, pcm_accel, hud_control,
 
 def create_lkas_hud(packer, bus, CP, hud_control, lat_active, steering_available, reduced_steering, alert_steer_required, lkas_hud):
   commands = []
+  lanes_visible = bool(hud_control.lanesVisible or lat_active)
 
   lkas_hud_values = {
     'LKAS_READY': 1,
     'LKAS_STATE_CHANGE': 1,
     'STEERING_REQUIRED': alert_steer_required,
-    'SOLID_LANES': hud_control.lanesVisible,
+    'SOLID_LANES': lanes_visible,
     'BEEP': 0,
   }
 
   if CP.carFingerprint in (HONDA_BOSCH_RADARLESS | HONDA_BOSCH_CANFD):
     lkas_hud_values['LANE_LINES'] = 3
-    lkas_hud_values['DASHED_LANES'] = hud_control.lanesVisible
+    lkas_hud_values['DASHED_LANES'] = lanes_visible
 
     # car likely needs to see LKAS_PROBLEM fall within a specific time frame, so forward from camera
     # TODO: needed for Bosch CAN FD?
@@ -192,8 +193,8 @@ def create_lkas_hud(packer, bus, CP, hud_control, lat_active, steering_available
   # New HUD concept for selected Bosch cars, overwrites some of the above
   # TODO: make global across all Honda if feedback is favorable
   if CP.carFingerprint in HONDA_BOSCH_ALT_RADAR:
-    lkas_hud_values['DASHED_LANES'] = steering_available
-    lkas_hud_values['SOLID_LANES'] = lat_active
+    lkas_hud_values['DASHED_LANES'] = bool(steering_available or lanes_visible)
+    lkas_hud_values['SOLID_LANES'] = lanes_visible
     lkas_hud_values['LKAS_PROBLEM'] = lat_active and reduced_steering
 
   if CP.flags & HondaFlags.BOSCH_EXT_HUD and not CP.openpilotLongitudinalControl:

opendbc_repo/opendbc/car/honda/tests/test_honda.py

@@ -11,6 +11,7 @@ from opendbc.car.honda.carcontroller import (
   get_honda_bosch_wind_brake_mps2,
   update_honda_bosch_live_learning,
 )
+from opendbc.car.honda.hondacan import create_lkas_hud
 from opendbc.car.honda.fingerprints import FW_VERSIONS
 from opendbc.car.honda.values import CAR, HONDA_BOSCH, HONDA_BOSCH_TJA_CONTROL, HondaFlags
 
@@ -18,6 +19,19 @@ HONDA_FW_VERSION_RE = rb"[A-Z0-9]{5}-[A-Z0-9]{3}(-|,)[A-Z0-9]{4}(\x00){2}$"
 
 
 class TestHondaFingerprint:
+  def test_honda_lkas_hud_shows_lane_lines_when_lateral_only_is_active(self):
+    class FakePacker:
+      @staticmethod
+      def make_can_msg(name, bus, values):
+        return name, bus, values
+
+    CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC_BOSCH)
+    hud_control = SimpleNamespace(lanesVisible=False)
+
+    cmds = create_lkas_hud(FakePacker(), 0, CP, hud_control, True, True, False, False, {})
+
+    assert cmds[0][2]["SOLID_LANES"] is True
+
   def test_fw_version_format(self):
     # Asserts all FW versions follow an expected format
     for fw_by_ecu in FW_VERSIONS.values():

selfdrive/controls/lib/latcontrol_torque.py

@@ -47,23 +47,23 @@ UNWIND_D_DES_THRESHOLD = -1.0
 UNWIND_LAT_ACCEL_NEAR_ZERO = 0.3
 MIN_LATERAL_CONTROL_SPEED = 0.3
 CIVIC_BOSCH_MODIFIED_B_FIXED_FRICTION_THRESHOLD = 0.30
-CIVIC_BOSCH_MODIFIED_B_LAT_ACCEL_FACTOR_MULT = 1.10
+CIVIC_BOSCH_MODIFIED_B_LAT_ACCEL_FACTOR_MULT = 1.20
 CIVIC_BOSCH_MODIFIED_B_TRANSITION_SPEED = 12.0
 CIVIC_BOSCH_MODIFIED_B_PHASE_SCALE = 0.10
 CIVIC_BOSCH_MODIFIED_B_FF_ONSET = 0.18
 CIVIC_BOSCH_MODIFIED_B_FF_ONSET_WIDTH = 0.07
 CIVIC_BOSCH_MODIFIED_B_FF_CUTOFF = 1.00
 CIVIC_BOSCH_MODIFIED_B_FF_CUTOFF_WIDTH = 0.30
-CIVIC_BOSCH_MODIFIED_B_FF_REDUCTION_LEFT = 0.10
-CIVIC_BOSCH_MODIFIED_B_FF_REDUCTION_RIGHT = 0.16
-CIVIC_BOSCH_MODIFIED_B_TURN_IN_BOOST_LEFT = 0.02
-CIVIC_BOSCH_MODIFIED_B_TURN_IN_BOOST_RIGHT = 0.04
-CIVIC_BOSCH_MODIFIED_B_UNWIND_TAPER_LEFT = 0.28
-CIVIC_BOSCH_MODIFIED_B_UNWIND_TAPER_RIGHT = 0.34
-CIVIC_BOSCH_MODIFIED_B_TURN_IN_FRICTION_BOOST_LEFT = 0.01
-CIVIC_BOSCH_MODIFIED_B_TURN_IN_FRICTION_BOOST_RIGHT = 0.02
-CIVIC_BOSCH_MODIFIED_B_UNWIND_FRICTION_REDUCTION_LEFT = 0.18
-CIVIC_BOSCH_MODIFIED_B_UNWIND_FRICTION_REDUCTION_RIGHT = 0.24
+CIVIC_BOSCH_MODIFIED_B_FF_REDUCTION_LEFT = 0.14
+CIVIC_BOSCH_MODIFIED_B_FF_REDUCTION_RIGHT = 0.24
+CIVIC_BOSCH_MODIFIED_B_TURN_IN_BOOST_LEFT = 0.04
+CIVIC_BOSCH_MODIFIED_B_TURN_IN_BOOST_RIGHT = 0.00
+CIVIC_BOSCH_MODIFIED_B_UNWIND_TAPER_LEFT = 0.40
+CIVIC_BOSCH_MODIFIED_B_UNWIND_TAPER_RIGHT = 0.60
+CIVIC_BOSCH_MODIFIED_B_TURN_IN_FRICTION_BOOST_LEFT = 0.02
+CIVIC_BOSCH_MODIFIED_B_TURN_IN_FRICTION_BOOST_RIGHT = 0.00
+CIVIC_BOSCH_MODIFIED_B_UNWIND_FRICTION_REDUCTION_LEFT = 0.26
+CIVIC_BOSCH_MODIFIED_B_UNWIND_FRICTION_REDUCTION_RIGHT = 0.40
 
 BOLT_2022_2023_CARS = (
   GM_CAR.CHEVROLET_BOLT_ACC_2022_2023,

selfdrive/controls/tests/test_latcontrol.py

@@ -429,7 +429,7 @@ class TestLatControl:
     CI = CarInterface(CP, custom.StarPilotCarParams.new_message())
     controller = LatControlTorque(CP.as_reader(), CI, DT_CTRL)
 
-    assert controller.torque_params.latAccelFactor == pytest.approx(3.0 * 1.10)
+    assert controller.torque_params.latAccelFactor == pytest.approx(3.0 * 1.20)
 
   def test_modified_civic_b_torque_ff_scale_curve(self):
     steady_left = get_civic_bosch_modified_b_ff_scale(0.5, 0.0, 12.0)

starpilot/controls/starpilot_card.py

@@ -86,6 +86,8 @@ class StarPilotCard:
       for be in carState.buttonEvents:
         if be.type == ButtonType.lkas and be.pressed and starpilot_toggles.always_on_lateral_lkas:
           self.always_on_lateral_allowed = not self.always_on_lateral_allowed
+          if carState.cruiseState.enabled or self.pause_lateral:
+            self.pause_lateral = not self.always_on_lateral_allowed
         elif be.type == ButtonType.mainCruise and be.pressed:
           if starpilot_toggles.always_on_lateral_main:
             self.always_on_lateral_allowed = not self.always_on_lateral_allowed

starpilot/controls/tests/test_starpilot_card.py

@@ -88,6 +88,35 @@ def test_honda_lkas_button_can_toggle_always_on_lateral(monkeypatch, tmp_path):
   ret = card.update(car_state, starpilot_car_state, sm, toggles)
 
   assert ret.alwaysOnLateralAllowed is True
+  assert ret.pauseLateral is False
+
+
+def test_honda_lkas_button_pauses_lateral_when_cruise_is_active(monkeypatch, tmp_path):
+  monkeypatch.setattr(spc, "Params", FakeParams)
+  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
+  monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
+
+  card = spc.StarPilotCard(
+    SimpleNamespace(brand="honda"),
+    SimpleNamespace(alternativeExperience=spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL),
+  )
+  card.always_on_lateral_allowed = True
+
+  car_state = make_car_state(available=True, enabled=True, button_events=[SimpleNamespace(type=spc.ButtonType.lkas, pressed=True)])
+  starpilot_car_state = SimpleNamespace(distancePressed=False)
+  sm = make_sm()
+  sm["selfdriveState"].active = True
+  toggles = make_toggles(always_on_lateral_lkas=True, lkas_allowed_for_aol=True)
+
+  ret = card.update(car_state, starpilot_car_state, sm, toggles)
+
+  assert ret.alwaysOnLateralAllowed is False
+  assert ret.pauseLateral is True
+
+  ret = card.update(car_state, starpilot_car_state, sm, toggles)
+
+  assert ret.alwaysOnLateralAllowed is True
+  assert ret.pauseLateral is False
 
 
 def test_main_aol_still_follows_cruise_main_for_other_platforms(monkeypatch, tmp_path):