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 decoder available for parser testing, but require an exact platform allowlist entry and an internal opt-in before radar can affect production lead tracking. Hide the control from user settings until real captures validate each platform.
Co-authored-by: JamesL787 <jamezelle1@gmail.com>
Ports the 16-slot Bosch-A object-bank radar decoder (16 slots x 4 main frames
+ 1 aux frame each) and enables it behind a HondaBoschARadar toggle (default
on) for the full HONDA_BOSCH_A harness category: N-Box, Accord, Civic (incl.
Diesel), CR-V, CR-V Hybrid, Acura RDX, Insight, and Honda e -- 10 platforms
total, derived as HONDA_BOSCH - HONDA_BOSCH_RADARLESS - HONDA_BOSCH_CANFD -
HONDA_BOSCH_ALT_RADAR.
RX-only: never transmits on the radar bus, so it takes no CAN authority.
Factory AEB/CMBS/FCW stay live as long as stock longitudinal remains in
control; enabling openpilot longitudinal (alpha) disables them regardless
of this toggle, via the existing UDS CommunicationControl call in
CarInterface.init() -- documented consistently now via a new HondaCarDocs
Footnote.EXP_LONG and matching comments on all 10 platform configs.
86 new tests for the decoder (gate-open/closed coverage for every affected
platform) plus the existing 19 in test_honda.py all pass.
Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
(cherry picked from commit b13dd7d75e)
Cherry-picked Feature Request 6578897 from 2f9c2d95b6.
Preserve documented defaults when VASM parameters are missing during upgrades.
Co-authored-by: Prabhaav Pillai <prabhaav@msu.edu>
Keep Rivian angle commands below 4 m/s², exercise the common angle-safety coverage, and prevent generic firmware management from overwriting unverified external Black Pandas.
Original safety work based on PR #90 by TonyJOM (Anthony Orta).
Co-authored-by: TonyJOM <anthonyorta20@icloud.com>
Add a 0.05-step range control with plain-language guidance for lane-centering E2E authority. Descriptions group the same behavior across five practical levels, from rigid centering to immediate hazard response.
Co-authored-by: jc01rho <4989674+jc01rho@users.noreply.github.com>
firestar5683