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firestar5683
2026-05-03 19:47:14 -05:00
parent a9d57b521e
commit b9ab07d7cd
10 changed files with 97 additions and 18 deletions
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opendbc_repo/opendbc/car/fingerprints.py
+1
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@@ -72,6 +72,7 @@ MIGRATION = {
"HONDA CR-V 2016 TOURING": HONDA.HONDA_CRV,
"HONDA CR-V 2017 EX": HONDA.HONDA_CRV_5G,
"HONDA CR-V 2019 HYBRID": HONDA.HONDA_CRV_HYBRID,
"HONDA CLARITY 2018": HONDA.HONDA_CLARITY,
"HONDA FIT 2018 EX": HONDA.HONDA_FIT,
"HONDA HRV 2019 TOURING": HONDA.HONDA_HRV,
"HONDA INSIGHT 2019 TOURING": HONDA.HONDA_INSIGHT,
opendbc_repo/opendbc/car/honda/fingerprints.py
+23
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@@ -143,6 +143,29 @@ FW_VERSIONS = {
b'38897-TWD-J020\x00\x00',
],
},
CAR.HONDA_CLARITY: {
(Ecu.shiftByWire, 0x18da0bf1, None): [
b'54008-TRW-A910\x00\x00',
],
(Ecu.vsa, 0x18da28f1, None): [
b'57114-TRW-A010\x00\x00',
b'57114-TRW-A020\x00\x00',
],
(Ecu.eps, 0x18da30f1, None): [
b'39990-TRW-A020\x00\x00',
b'39990-TRW,A020\x00\x00',
],
(Ecu.srs, 0x18da53f1, None): [
b'77959-TRW-A210\x00\x00',
b'77959-TRW-A220\x00\x00',
],
(Ecu.gateway, 0x18daeff1, None): [
b'38897-TRW-A010\x00\x00',
],
(Ecu.fwdRadar, 0x18dab0f1, None): [
b'36161-TRW-A110\x00\x00',
],
},
CAR.HONDA_CIVIC: {
(Ecu.transmission, 0x18da1ef1, None): [
b'28101-5CG-A040\x00\x00',
opendbc_repo/opendbc/car/honda/interface.py
+6 -1
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@@ -172,6 +172,11 @@ class CarInterface(CarInterfaceBase):
else:
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] # TODO: can probably use some tuning
elif candidate == CAR.HONDA_CLARITY:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
ret.stopAccel = 0.0
elif candidate == CAR.ACURA_RDX:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
@@ -235,7 +240,7 @@ class CarInterface(CarInterfaceBase):
# min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
# conflict with PCM acc
ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.HONDA_CIVIC})
ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.HONDA_CIVIC, CAR.HONDA_CLARITY})
ret.minEnableSpeed = -1. if ret.autoResumeSng else 25.51 * CV.MPH_TO_MS
ret.steerLimitTimer = 0.8
opendbc_repo/opendbc/car/honda/tests/test_honda.py
+22
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@@ -139,3 +139,25 @@ class TestHondaFingerprint:
assert list(CP.lateralParams.torqueV) == [0, 4096]
assert list(CP.lateralTuning.pid.kpV) == pytest.approx([0.8])
assert list(CP.lateralTuning.pid.kiV) == pytest.approx([0.24])
def test_honda_clarity_supports_pid_and_torque_paths(self):
pid_toggles = SimpleNamespace(force_torque_controller=False, nnff=False, nnff_lite=False)
car_fw = [CarParams.CarFw(ecu=CarParams.Ecu.eps, fwVersion=b'39990-TRW,A020\x00\x00', address=0x18DA30F1, subAddress=0)]
pid_cp = CarInterface.get_params(CAR.HONDA_CLARITY, gen_empty_fingerprint(), car_fw, False, False, False, pid_toggles)
assert not pid_cp.dashcamOnly
assert pid_cp.flags & HondaFlags.EPS_MODIFIED
assert pid_cp.lateralTuning.which() == "pid"
assert list(pid_cp.lateralParams.torqueBP) == [0, 2560]
assert list(pid_cp.lateralParams.torqueV) == [0, 2560]
assert list(pid_cp.lateralTuning.pid.kpV) == pytest.approx([0.8])
assert list(pid_cp.lateralTuning.pid.kiV) == pytest.approx([0.24])
assert pid_cp.autoResumeSng
assert pid_cp.minEnableSpeed == pytest.approx(-1.0)
assert pid_cp.stopAccel == pytest.approx(0.0)
torque_toggles = SimpleNamespace(force_torque_controller=True, nnff=False, nnff_lite=False)
torque_cp = CarInterface.get_params(CAR.HONDA_CLARITY, gen_empty_fingerprint(), car_fw, False, False, False, torque_toggles)
assert torque_cp.lateralTuning.which() == "torque"
opendbc_repo/opendbc/car/honda/values.py
+6
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@@ -323,6 +323,12 @@ class CAR(Platforms):
radar_dbc_dict('acura_ilx_2016_can_generated'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
HONDA_CLARITY = HondaNidecPlatformConfig(
[HondaCarDocs("Honda Clarity 2018-21", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
CarSpecs(mass=1838, wheelbase=2.75, centerToFrontRatio=0.4, steerRatio=16.5),
radar_dbc_dict('honda_clarity_hybrid_2018_can_generated'),
flags=HondaFlags.HAS_ALL_DOOR_STATES,
)
HONDA_ODYSSEY = HondaNidecPlatformConfig(
[HondaCarDocs("Honda Odyssey 2018-20")],
CarSpecs(mass=1900, wheelbase=3.0, steerRatio=14.35, centerToFrontRatio=0.41, tireStiffnessFactor=0.82),
opendbc_repo/opendbc/car/torque_data/substitute.toml
+1
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@@ -49,6 +49,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"GENESIS_G70_2020" = "HYUNDAI_SONATA"
"HONDA_FREED" = "HONDA_ODYSSEY"
"HONDA_CLARITY" = "HONDA_ACCORD"
"HONDA_CRV_EU" = "HONDA_CRV"
"HONDA_CIVIC_BOSCH_DIESEL" = "HONDA_CIVIC_BOSCH"
"HONDA_E" = "HONDA_CIVIC_BOSCH"
selfdrive/controls/lib/latcontrol_torque.py
+11 -12
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@@ -201,8 +201,6 @@ GENESIS_G90_TURN_IN_FRICTION_BOOST_RIGHT = 0.12
GENESIS_G90_UNWIND_FRICTION_REDUCTION_LEFT = 0.14
GENESIS_G90_UNWIND_FRICTION_REDUCTION_RIGHT = 0.22
IONIQ_6_LATERAL_TESTING_GROUND_ID = testing_ground.id_5
IONIQ_6_LATERAL_TESTING_GROUND_VARIANT = "C"
IONIQ_6_FF_GAIN_LEFT = 0.040
IONIQ_6_FF_GAIN_RIGHT = 0.000
IONIQ_6_FF_ONSET = 0.10
@@ -240,10 +238,14 @@ IONIQ_6_LOW_MID_CENTER_TAPER_SPEED_WIDTH = 1.5
IONIQ_6_DIRECTIONAL_TAPER_LAT_START = 0.15
IONIQ_6_DIRECTIONAL_TAPER_LAT_END = 0.90
IONIQ_6_DIRECTIONAL_TAPER_LAT_WIDTH = 0.08
IONIQ_6_DIRECTIONAL_TAPER_BASE_LEFT = 0.05
IONIQ_6_DIRECTIONAL_TAPER_BASE_RIGHT = 0.47
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_LEFT = 1.00
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT = 2.65
IONIQ_6_DIRECTIONAL_TAPER_BASE_LEFT = 0.10
IONIQ_6_DIRECTIONAL_TAPER_BASE_RIGHT = 0.40
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_LEFT = 1.20
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT = 2.30
IONIQ_6_DIRECTIONAL_TAPER_FLOOR_LEFT = 0.54
IONIQ_6_DIRECTIONAL_TAPER_FLOOR_RIGHT = 0.60
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_FLOOR_LEFT = 0.10
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_FLOOR_RIGHT = 0.04
IONIQ_6_OUTPUT_TAPER_SPEED = 8.5
IONIQ_6_OUTPUT_TAPER_SPEED_WIDTH = 2.5
IONIQ_6_OUTPUT_CENTER_TAPER_BLEND = 0.90
@@ -680,10 +682,6 @@ def get_genesis_g90_friction_scale(v_ego: float, desired_lateral_accel: float, d
return min(max(friction_scale, 0.92), 1.12)
def ioniq_6_lateral_testing_ground_active() -> bool:
return testing_ground.use(IONIQ_6_LATERAL_TESTING_GROUND_ID, IONIQ_6_LATERAL_TESTING_GROUND_VARIANT)
def _ioniq_6_sigmoid(x: float) -> float:
return _sigmoid(x)
@@ -780,7 +778,8 @@ def get_ioniq_6_directional_taper_scale(desired_lateral_accel: float, desired_la
base_reduction = _ioniq_6_side_value(desired_lateral_accel, IONIQ_6_DIRECTIONAL_TAPER_BASE_LEFT, IONIQ_6_DIRECTIONAL_TAPER_BASE_RIGHT)
unwind_reduction = _ioniq_6_side_value(desired_lateral_accel, IONIQ_6_DIRECTIONAL_TAPER_UNWIND_LEFT, IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT)
reduction = band_weight * (base_reduction + unwind_reduction * unwind_weight)
floor = 0.56 - (0.06 * unwind_weight)
floor = _ioniq_6_side_value(desired_lateral_accel, IONIQ_6_DIRECTIONAL_TAPER_FLOOR_LEFT, IONIQ_6_DIRECTIONAL_TAPER_FLOOR_RIGHT)
floor -= _ioniq_6_side_value(desired_lateral_accel, IONIQ_6_DIRECTIONAL_TAPER_UNWIND_FLOOR_LEFT, IONIQ_6_DIRECTIONAL_TAPER_UNWIND_FLOOR_RIGHT) * unwind_weight
return max(1.0 - reduction, floor)
@@ -1052,7 +1051,7 @@ class LatControlTorque(LatControl):
bolt_2018_2021_tuned_path_active = self.is_bolt_2018_2021
volt_standard_test_active = self.is_volt_standard and volt_standard_lateral_testing_ground_active()
genesis_g90_test_active = self.is_genesis_g90 and genesis_g90_lateral_testing_ground_active()
ioniq_6_test_active = self.is_ioniq_6 and ioniq_6_lateral_testing_ground_active()
ioniq_6_test_active = self.is_ioniq_6
kia_ev6_test_active = self.is_kia_ev6 and kia_ev6_lateral_testing_ground_active()
volt_plexy_test_active = self.is_volt_cc and volt_plexy_lateral_testing_ground_active()
volt_standard_center_taper = get_volt_standard_center_taper_scale(setpoint, CS.vEgo) if volt_standard_test_active else 1.0
selfdrive/controls/tests/test_latcontrol.py
+1 -2
View File
@@ -359,9 +359,8 @@ class TestLatControl:
assert lac_log.active
def test_ioniq_6_testing_ground_update_path(self, monkeypatch):
def test_ioniq_6_default_update_path(self):
controller, VM, CS, params, starpilot_toggles = self._build_torque_controller(HYUNDAI.HYUNDAI_IONIQ_6)
monkeypatch.setattr(latcontrol_torque, "ioniq_6_lateral_testing_ground_active", lambda: True)
_, _, lac_log = controller.update(True, CS, VM, params, False, 0.0025, False, 0.2, None, None, starpilot_toggles)
starpilot/common/testing_grounds.py
+2 -3
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@@ -63,10 +63,9 @@ TESTING_GROUNDS_SLOT_DEFINITIONS = (
},
{
"id": TESTING_GROUND_5,
"name": "Ioniq 6 Lateral",
"description": "Hyundai Ioniq 6 lateral sandbox.",
"name": "Unused",
"description": "Unused slot.",
"aLabel": "A - Installed tune",
"cLabel": "C - Firestar Tune",
},
{
"id": TESTING_GROUND_6,
starpilot/common/tests/test_testing_grounds.py
+24
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@@ -30,3 +30,27 @@ def test_hidden_testing_ground_selection_is_migrated(tmp_path, monkeypatch, hidd
payload = json.loads(state_path.read_text(encoding="utf-8"))
assert payload["activeSlot"] == tg.TESTING_GROUND_1
assert payload["activeVariant"] == tg.DEFAULT_TESTING_GROUND_VARIANT
def test_hidden_slot_invalid_variant_is_migrated_off_slot(tmp_path, monkeypatch):
state_path = tmp_path / "slots.json"
state_path.write_text(json.dumps({
"schemaVersion": tg.TESTING_GROUNDS_SCHEMA_VERSION,
"activeSlot": tg.TESTING_GROUND_5,
"activeVariant": "C",
}), encoding="utf-8")
monkeypatch.setattr(tg, "TESTING_GROUNDS_STATE_PATH", state_path)
monkeypatch.setattr(tg, "_CACHE_LAST_REFRESH", 0.0)
monkeypatch.setattr(tg, "_CACHE_LAST_MTIME_NS", -1)
monkeypatch.setattr(tg, "_CACHE_ACTIVE_SLOT", tg._DEFAULT_ACTIVE_SLOT)
monkeypatch.setattr(tg, "_CACHE_ACTIVE_VARIANT", tg.DEFAULT_TESTING_GROUND_VARIANT)
active_slot, active_variant = tg.get_testing_ground_selection(refresh_interval_s=0.0)
assert active_slot == tg.TESTING_GROUND_1
assert active_variant == tg.DEFAULT_TESTING_GROUND_VARIANT
payload = json.loads(state_path.read_text(encoding="utf-8"))
assert payload["activeSlot"] == tg.TESTING_GROUND_1
assert payload["activeVariant"] == tg.DEFAULT_TESTING_GROUND_VARIANT