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Honda Bosch: fix detection for alternate brake signal bug (#31675)

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statically set alt brake for platforms where we don't need detection yet
This commit is contained in:
Shane Smiskol
2024-03-01 16:37:09 -08:00
committed by GitHub
parent bf20358440
commit 81bed0aad8
2 changed files with 10 additions and 8 deletions
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selfdrive/car/honda/interface.py
+4 -1
View File
@@ -209,8 +209,11 @@ class CarInterface(CarInterfaceBase):
raise ValueError(f"unsupported car {candidate}")
# These cars use alternate user brake msg (0x1BE)
if 0x1BE in fingerprint[CAN.pt] and candidate in HONDA_BOSCH:
# TODO: Only detect feature for Accord/Accord Hybrid, not all Bosch DBCs have BRAKE_MODULE
if 0x1BE in fingerprint[CAN.pt] and candidate == CAR.ACCORD:
ret.flags |= HondaFlags.BOSCH_ALT_BRAKE.value
if ret.flags & HondaFlags.BOSCH_ALT_BRAKE:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_ALT_BRAKE
# These cars use alternate SCM messages (SCM_FEEDBACK AND SCM_BUTTON)
selfdrive/car/honda/values.py
+6 -7
View File
@@ -133,7 +133,7 @@ class CAR(Platforms):
)
CIVIC_BOSCH_DIESEL = HondaPlatformConfig(
"HONDA CIVIC SEDAN 1.6 DIESEL 2019",
None, # don't show in docs
None, # don't show in docs
CIVIC_BOSCH.specs,
dbc_dict('honda_accord_2018_can_generated', None),
flags=HondaFlags.BOSCH
@@ -153,7 +153,7 @@ class CAR(Platforms):
HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS),
CarSpecs(mass=3410 * CV.LB_TO_KG, wheelbase=2.66, steerRatio=16.0, centerToFrontRatio=0.41), # steerRatio: 12.3 is spec end-to-end
dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'),
flags=HondaFlags.BOSCH,
flags=HondaFlags.BOSCH | HondaFlags.BOSCH_ALT_BRAKE,
)
CRV_HYBRID = HondaPlatformConfig(
"HONDA CR-V HYBRID 2019",
@@ -167,14 +167,14 @@ class CAR(Platforms):
HondaCarInfo("Honda HR-V 2023", "All"),
CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.61, steerRatio=15.2, centerToFrontRatio=0.41),
dbc_dict('honda_civic_ex_2022_can_generated', None),
flags=HondaFlags.BOSCH | HondaFlags.BOSCH_RADARLESS
flags=HondaFlags.BOSCH | HondaFlags.BOSCH_RADARLESS | HondaFlags.BOSCH_ALT_BRAKE
)
ACURA_RDX_3G = HondaPlatformConfig(
"ACURA RDX 2020",
HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
CarSpecs(mass=4068 * CV.LB_TO_KG, wheelbase=2.75, steerRatio=11.95, centerToFrontRatio=0.41), # as spec
dbc_dict('acura_rdx_2020_can_generated', None),
flags=HondaFlags.BOSCH
flags=HondaFlags.BOSCH | HondaFlags.BOSCH_ALT_BRAKE
)
INSIGHT = HondaPlatformConfig(
"HONDA INSIGHT 2019",
@@ -208,7 +208,7 @@ class CAR(Platforms):
)
CRV_EU = HondaPlatformConfig(
"HONDA CR-V EU 2016",
None, # Euro version of CRV Touring, don't show in docs
None, # Euro version of CRV Touring, don't show in docs
CRV.specs,
dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
@@ -243,7 +243,7 @@ class CAR(Platforms):
)
ODYSSEY_CHN = HondaPlatformConfig(
"HONDA ODYSSEY CHN 2019",
None, # Chinese version of Odyssey, don't show in docs
None, # Chinese version of Odyssey, don't show in docs
ODYSSEY.specs,
dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES
@@ -344,7 +344,6 @@ FW_QUERY_CONFIG = FwQueryConfig(
],
)
STEER_THRESHOLD = {
# default is 1200, overrides go here
CAR.ACURA_RDX: 400,