hurdy gurdy

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

@@ -140,6 +140,16 @@ class TestHondaFingerprint:
     assert list(CP.lateralTuning.pid.kpV) == pytest.approx([0.8])
     assert list(CP.lateralTuning.pid.kiV) == pytest.approx([0.24])
 
+  def test_modified_civic_b_testing_ground_forces_torque(self, monkeypatch):
+    toggles = SimpleNamespace(force_torque_controller=False, nnff=False, nnff_lite=False)
+    car_fw = [CarParams.CarFw(ecu=CarParams.Ecu.eps, fwVersion=b'39990-TGG,A020\x00\x00', address=0x18DA30F1, subAddress=0)]
+    monkeypatch.setattr("openpilot.starpilot.common.testing_grounds.testing_ground.use", lambda slot_id, variant="B": slot_id == "8" and variant == "B")
+
+    CP = CarInterface.get_params(CAR.HONDA_CIVIC_BOSCH, gen_empty_fingerprint(), car_fw, False, False, False, toggles)
+
+    assert CP.flags & HondaFlags.EPS_MODIFIED
+    assert CP.lateralTuning.which() == "torque"
+
   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)]

opendbc_repo/opendbc/car/interfaces.py

@@ -18,7 +18,7 @@ from opendbc.car.common.basedir import BASEDIR
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.common.simple_kalman import KF1D, get_kalman_gain
 from opendbc.car.gm.values import CAR as GM
-from opendbc.car.honda.values import CAR as HONDA, HONDA_BOSCH, HONDA_CAMERA_MESSAGE_CARS, HondaSafetyFlags, HondaStarPilotFlags
+from opendbc.car.honda.values import CAR as HONDA, HONDA_BOSCH, HONDA_CAMERA_MESSAGE_CARS, HondaFlags, HondaSafetyFlags, HondaStarPilotFlags
 from opendbc.car.hyundai.hyundaicanfd import CanBus
 from opendbc.car.hyundai.values import CAR as HYUNDAI, CANFD_CAR, HyundaiFlags, HyundaiStarPilotFlags, HyundaiStarPilotSafetyFlags
 from opendbc.car.mock.values import CAR as MOCK
@@ -26,6 +26,7 @@ from opendbc.car.toyota.values import CAR as TOYOTA, NO_DSU_CAR, TSS2_CAR, UNSUP
 from opendbc.car.values import PLATFORMS
 from opendbc.can import CANParser
 from openpilot.common.params import Params
+from openpilot.starpilot.common.testing_grounds import testing_ground
 
 GearShifter = structs.CarState.GearShifter
 ButtonType = structs.CarState.ButtonEvent.Type
@@ -182,7 +183,15 @@ class CarInterfaceBase(ABC):
     ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, ret.tireStiffnessFactor)
 
     toggles_to_check = ("force_torque_controller", "nnff", "nnff_lite")
-    if ret.steerControlType != structs.CarParams.SteerControlType.angle and any(getattr(starpilot_toggles, toggle, False) for toggle in toggles_to_check):
+    modified_civic_b_force_torque = (
+      candidate == HONDA.HONDA_CIVIC_BOSCH and
+      bool(ret.flags & HondaFlags.EPS_MODIFIED) and
+      testing_ground.use("8", "B")
+    )
+    if ret.steerControlType != structs.CarParams.SteerControlType.angle and (
+      any(getattr(starpilot_toggles, toggle, False) for toggle in toggles_to_check) or
+      modified_civic_b_force_torque
+    ):
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     return ret

selfdrive/controls/lib/latcontrol_torque.py

@@ -4,6 +4,7 @@ from collections import deque
 
 from cereal import log
 from opendbc.car.gm.values import CAR as GM_CAR
+from opendbc.car.honda.values import CAR as HONDA_CAR, HondaFlags
 from opendbc.car.hyundai.values import CAR as HYUNDAI_CAR
 from opendbc.car.lateral import get_friction
 from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY, CV
@@ -45,6 +46,7 @@ DEADZONE_BOOST_LAT_ACCEL = 0.15
 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
 
 BOLT_2022_2023_CARS = (
   GM_CAR.CHEVROLET_BOLT_ACC_2022_2023,
@@ -317,6 +319,10 @@ def get_friction_threshold(v_ego: float) -> float:
   return float(np.interp(v_ego, [1 * CV.MPH_TO_MS, 20 * CV.MPH_TO_MS, 75 * CV.MPH_TO_MS], [0.16, 0.19, 0.27]))
 
 
+def civic_bosch_modified_lateral_testing_ground_active() -> bool:
+  return testing_ground.use("8", "B")
+
+
 def bolt_2017_lateral_testing_ground_active() -> bool:
   return testing_ground.use(BOLT_2017_LATERAL_TESTING_GROUND_ID)
 
@@ -965,6 +971,7 @@ class LatControlTorque(LatControl):
     self.is_genesis_g90 = CP.carFingerprint in GENESIS_G90_CARS
     self.is_ioniq_6 = CP.carFingerprint in IONIQ_6_CARS
     self.is_kia_ev6 = CP.carFingerprint in KIA_EV6_CARS
+    self.is_civic_bosch_modified = CP.carFingerprint == HONDA_CAR.HONDA_CIVIC_BOSCH and bool(CP.flags & HondaFlags.EPS_MODIFIED)
     self.is_volt_cc = CP.carFingerprint == GM_CAR.CHEVROLET_VOLT_CC
     self.is_silverado = CP.carFingerprint == GM_CAR.CHEVROLET_SILVERADO
     self.use_bolt_ff_scaling = self.is_bolt_2022_2023 or self.is_bolt_2018_2021 or self.is_bolt_2017
@@ -1087,6 +1094,8 @@ class LatControlTorque(LatControl):
         ff *= get_volt_plexy_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo)
         friction_threshold = get_volt_plexy_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
         friction_scale = get_volt_plexy_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)
+      elif self.is_civic_bosch_modified and civic_bosch_modified_lateral_testing_ground_active():
+        friction_threshold = CIVIC_BOSCH_MODIFIED_B_FIXED_FRICTION_THRESHOLD
       ff += friction_scale * get_friction(error_with_lsf + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, friction_threshold, self.torque_params)
       deadzone_boost_active = False
       if self.torque_deadzone_boost > 0.0 and abs(gravity_adjusted_future_lateral_accel) < DEADZONE_BOOST_LAT_ACCEL:

selfdrive/controls/tests/test_latcontrol.py

@@ -6,7 +6,7 @@ from cereal import car, custom, log
 import openpilot.selfdrive.controls.lib.latcontrol_torque as latcontrol_torque
 import openpilot.selfdrive.controls.lib.latcontrol_pid as latcontrol_pid
 from opendbc.car.car_helpers import interfaces
-from opendbc.car.honda.values import CAR as HONDA
+from opendbc.car.honda.values import CAR as HONDA, HondaFlags
 from opendbc.car.toyota.values import CAR as TOYOTA
 from opendbc.car.nissan.values import CAR as NISSAN
 from opendbc.car.gm.values import CAR as GM
@@ -377,6 +377,37 @@ class TestLatControl:
 
     assert tapered_output == pytest.approx(base_output)
 
+  def test_modified_civic_b_torque_path_uses_fixed_friction_threshold(self, monkeypatch):
+    CarInterface = interfaces[HONDA.HONDA_CIVIC_BOSCH]
+    CP = CarInterface.get_non_essential_params(HONDA.HONDA_CIVIC_BOSCH)
+    CP.flags |= int(HondaFlags.EPS_MODIFIED)
+    CP.lateralTuning.init("torque")
+    CI = CarInterface(CP, custom.StarPilotCarParams.new_message())
+    controller = LatControlTorque(CP.as_reader(), CI, DT_CTRL)
+    VM = VehicleModel(CP)
+
+    CS = car.CarState.new_message()
+    CS.vEgo = 12
+    CS.steeringPressed = False
+    CS.steeringAngleDeg = 1.0
+
+    params = log.LiveParametersData.new_message()
+    params.steerRatio = CP.steerRatio
+    params.stiffnessFactor = 1.0
+    params.roll = 0.0
+    params.angleOffsetDeg = 0.0
+
+    captured = {}
+    def fake_get_friction(_error, _deadzone, friction_threshold, _torque_params):
+      captured["threshold"] = friction_threshold
+      return 0.0
+
+    monkeypatch.setattr(latcontrol_torque, "civic_bosch_modified_lateral_testing_ground_active", lambda: True)
+    monkeypatch.setattr(latcontrol_torque, "get_friction", fake_get_friction)
+    controller.update(True, CS, VM, params, False, 0.0025, False, 0.2, None, None, SimpleNamespace())
+
+    assert captured["threshold"] == pytest.approx(0.3)
+
   def test_kia_ev6_testing_ground_update_path(self, monkeypatch):
     controller, VM, CS, params, starpilot_toggles = self._build_torque_controller(HYUNDAI.KIA_EV6)
     monkeypatch.setattr(latcontrol_torque, "kia_ev6_lateral_testing_ground_active", lambda: True)