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
Promote HONDA_CRV_5G after replaying a StarPilot route with active Bosch-A object frames across multiple segments. Add explicit CR-V DBC wiring and availability coverage while leaving every other unverified Bosch-A platform gated off.
Co-authored-by: JamesL787 <jamezelle1@gmail.com>
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)
Trust the contributor's plain Bosch Civic road validation while keeping every other Bosch-A variant unavailable until it has an accepted capture. Keep the internal kill switch default-on only behind the verified platform gate.
Co-authored-by: JamesL787 <jamezelle1@gmail.com>
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)
Fix StreamRequestBody initialization for legacy and multi-camera clients, ignore unknown request fields, and use the supported nonblocking Params API for keyframe requests. Add regression coverage for request normalization.
Based on PR #101 by inauner: https://github.com/firestar5683/StarPilot/pull/101
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.
Port the Accord 11G CAN-FD radar handover, vehicle-specific actuator tuning, and Honda safety permissions from PR #93 while keeping StarPilot\x27s shared planner and lead policy. Scope the replacement radar messages and B/regen gear behavior to the Accord platform, preserve generic Honda CAN-FD behavior, and add regression coverage.
Source: https://github.com/firestar5683/StarPilot/pull/93
firestar5683