Force Stop is now better at faster approach speeds. It has more authority on braking in general.
Force Stop Distance Offset: still the lever that moves the ending point sooner or later.
Radar bug fixed
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>
is_bosch_a_radar_car() and its downstream handling in radard.py never
landed alongside the radar decoder (interface.py/values.py/radar_interface.py)
-- without it, the newly-decoded Bosch-A radar points feed into radard's
generic path, which assumes the wrong Kalman filter timestep and is missing
a real staleness/freshness gate this radar's actual cadence needs.
Ports (unmodified in behavior, only renamed to match this repo's
HONDA_BOSCH_A / HONDA_BOSCH_A_RADAR_VERIFIED naming instead of "civic_bosch"):
- Kalman filter dt selected from the radar's real ~15Hz cadence
(HONDA_BOSCH_A_RADAR_TS), not the ~20Hz model-cycle default
- measurement_update gating so a duplicate liveTracks payload (radar runs
slower than the model loop) isn't absorbed twice by the KF
- a "preferred track" continuity path: a previously-selected lead stays
selected through ordinary model-probability fluctuations as long as it's
still coherent, instead of re-arbitrating from scratch every cycle
- staleness detection with two independent triggers (a better-scoring
challenger track sustained over several cycles, or gross absolute-range
disagreement with the model sustained over several cycles) that drops a
stale preferred track rather than holding it indefinitely
- honda_bosch_a_low_speed_radar_lead_sane(), requiring a few real sweeps
before a radar-only low-speed takeover
Tested on the branch this was developed on (109/109 relevant tests pass);
this port is a mechanical, unmodified transplant onto this repo's current
radard.py -- worth a run through this repo's own test suite before merge.
Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
(cherry picked from commit 8d23733946)
Avoid EPS torque faults when entering always-on lateral while the driver is steering. The behavior is scoped to HYUNDAI_KONA_NON_SCC and leaves other vehicles on the shared lateral-active path.
Original contribution by firestar5683.
Cherry-picked Feature Request 1267242 from ab98ae54bb. Prevent sharp or ordinary navigation turn desires from being issued unless the corresponding turn signal is active, and add regression coverage for missing and opposite signals.
Co-Authored-By: Prabhaav Pillai <prabhaav@msu.edu>
firestar5683