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add better reset

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This commit is contained in:
menwenliang
2020-11-26 13:06:29 +08:00
parent 7265f321b9
commit b48364fa14
4 changed files with 62 additions and 9 deletions
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selfdrive/car/honda/carcontroller.py
+38 -2
View File
@@ -100,6 +100,23 @@ class CarController():
# dp
self.last_blinker_on = False
self.blinker_end_frame = 0.
self.prev_lead_distance = 0.0
self.stopped_lead_distance = 0.0
self.lead_distance_counter = 1
self.lead_distance_counter_prev = 1
self.rough_lead_speed = 0.0
def rough_speed(self, lead_distance):
if self.prev_lead_distance != lead_distance:
self.lead_distance_counter_prev = self.lead_distance_counter
self.rough_lead_speed += 0.3334 * (
(lead_distance - self.prev_lead_distance) / self.lead_distance_counter_prev - self.rough_lead_speed)
self.lead_distance_counter = 0.0
elif self.lead_distance_counter >= self.lead_distance_counter_prev:
self.rough_lead_speed = (self.lead_distance_counter * self.rough_lead_speed) / (self.lead_distance_counter + 1.0)
self.lead_distance_counter += 1.0
self.prev_lead_distance = lead_distance
return self.rough_lead_speed
def update(self, enabled, CS, frame, actuators,
pcm_speed, pcm_override, pcm_cancel_cmd, pcm_accel,
@@ -179,8 +196,27 @@ class CarController():
elif not dragonconf.dpAllowGas and pcm_cancel_cmd:
can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, idx, CS.CP.carFingerprint, CS.CP.isPandaBlack))
elif CS.out.cruiseState.standstill:
can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, CS.CP.carFingerprint, CS.CP.isPandaBlack))
if CS.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
rough_lead_speed = self.rough_speed(CS.lead_distance)
if CS.lead_distance > (self.stopped_lead_distance + 15.0) or rough_lead_speed > 0.1:
self.stopped_lead_distance = 0.0
can_sends.append(
hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, CS.CP.carFingerprint,
CS.CP.isPandaBlack))
# print("spamming")
# print(self.stopped_lead_distance, CS.lead_distance, rough_lead_speed)
elif CS.CP.carFingerprint in (CAR.CIVIC_BOSCH, CAR.CRV_HYBRID):
if CS.hud_lead == 1:
can_sends.append(
hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, CS.CP.carFingerprint,
CS.CP.isPandaBlack))
else:
can_sends.append(
hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, CS.CP.carFingerprint,
CS.CP.isPandaBlack))
else:
self.stopped_lead_distance = CS.lead_distance
self.prev_lead_distance = CS.lead_distance
else:
# Send gas and brake commands.
if (frame % 2) == 0:
selfdrive/car/honda/carstate.py
+18 -5
View File
@@ -42,6 +42,7 @@ def get_can_signals(CP):
("ESP_DISABLED", "VSA_STATUS", 1),
("USER_BRAKE", "VSA_STATUS", 0),
("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0),
("HUD_LEAD", "ACC_HUD", 0),
("STEER_STATUS", "STEER_STATUS", 5),
("GEAR_SHIFTER", "GEARBOX", 0),
("PEDAL_GAS", "POWERTRAIN_DATA", 0),
@@ -106,8 +107,13 @@ def get_can_signals(CP):
checks += [("CRUISE_PARAMS", 10)]
else:
checks += [("CRUISE_PARAMS", 50)]
if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G):
signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.INSIGHT):
signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1),
("LEAD_DISTANCE", "RADAR_HUD", 0)]
checks += [("RADAR_HUD", 50)]
elif CP.carFingerprint in (CAR.CIVIC_BOSCH, CAR.CRV_HYBRID, CAR.CIVIC_BOSCH_DIESEL):
signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
checks += [("RADAR_HUD", 50)]
elif CP.carFingerprint == CAR.ODYSSEY_CHN:
signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS", 1)]
elif CP.carFingerprint in [CAR.HRV, CAR.JADE]:
@@ -191,9 +197,13 @@ class CarState(CarStateBase):
# ******************* parse out can *******************
# TODO: find wheels moving bit in dbc
if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G):
ret.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1
ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]['DRIVERS_DOOR_OPEN'])
if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.INSIGHT):
ret.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1
ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]['DRIVERS_DOOR_OPEN'])
self.lead_distance = cp.vl["RADAR_HUD"]['LEAD_DISTANCE']
elif self.CP.carFingerprint in (CAR.CIVIC_BOSCH, CAR.CRV_HYBRID, CAR.CIVIC_BOSCH_DIESEL):
ret.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1
ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]['DRIVERS_DOOR_OPEN'])
elif self.CP.carFingerprint == CAR.ODYSSEY_CHN:
ret.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1
ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]['DRIVERS_DOOR_OPEN'])
@@ -315,6 +325,9 @@ class CarState(CarStateBase):
ret.cruiseState.available = bool(main_on)
ret.cruiseState.nonAdaptive = self.cruise_mode != 0
# afa feature
self.hud_lead = cp.vl["ACC_HUD"]['HUD_LEAD']
# Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models
if self.CP.carFingerprint in (CAR.PILOT, CAR.PILOT_2019, CAR.RIDGELINE):
if ret.brake > 0.05: