honda clear startup fault

opendbc/car/honda/carstate.py

@@ -2,7 +2,7 @@ import numpy as np
 from collections import defaultdict
 
 from opendbc.can import CANDefine, CANParser
-from opendbc.car import Bus, create_button_events, structs
+from opendbc.car import Bus, create_button_events, structs, DT_CTRL
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.honda.hondacan import CanBus
 from opendbc.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, HONDA_BOSCH_ALT_RADAR, HONDA_BOSCH_CANFD, \
@@ -49,6 +49,9 @@ class CarState(CarStateBase):
     # However, on cars without a digital speedometer this is not always present (HRV, FIT, CRV 2016, ILX and RDX)
     self.dash_speed_seen = False
 
+    self.initial_accFault_cleared = False
+    self.initial_accFault_cleared_timer = int(10 / DT_CTRL) # 10 seconds after startup for initial faults to clear
+
   def update(self, can_parsers) -> structs.CarState:
     cp = can_parsers[Bus.pt]
     cp_cam = can_parsers[Bus.cam]
@@ -187,6 +190,18 @@ class CarState(CarStateBase):
     ret.cruiseState.enabled = cp.vl["POWERTRAIN_DATA"]["ACC_STATUS"] != 0
     ret.cruiseState.available = bool(cp.vl[self.car_state_scm_msg]["MAIN_ON"])
 
+    # Bosch cars take a few minutes after startup to clear prior faults
+    if ret.accFaulted:
+      if (self.CP.carFingerprint in HONDA_BOSCH) and not self.initial_accFault_cleared:
+        # block via cruiseState since accFaulted is not reversible until offroad
+        ret.accFaulted = False
+        ret.cruiseState.available = False
+    elif self.initial_accFault_cleared_timer == 0:
+      self.initial_accFault_cleared = True
+
+    if self.initial_accFault_cleared_timer > 0:
+      self.initial_accFault_cleared_timer -= 1
+
     # Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models
     if self.CP.carFingerprint in (CAR.HONDA_PILOT, CAR.HONDA_RIDGELINE):
       if ret.brake > 0.1:

opendbc/car/honda/fingerprints.py

@@ -1067,4 +1067,12 @@ FW_VERSIONS = {
       b'36161-TGV-A030\x00\x00',
     ],
   },
+  CAR.ACURA_TLX_2G_MMR: {
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'8S302-TGV-A030\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x18dab5f1, None): [
+      b'8S102-TGV-A030\x00\x00',
+    ],
+  },
 }

opendbc/car/honda/interface.py

@@ -191,6 +191,11 @@ class CarInterface(CarInterfaceBase):
         # When using stock ACC, the radar intercepts and filters steering commands the EPS would otherwise accept
         ret.minSteerSpeed = 70. * CV.KPH_TO_MS
 
+    elif candidate == CAR.ACURA_TLX_2G_MMR:
+      ret.steerActuatorDelay = 0.15
+      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
     else:
       ret.steerActuatorDelay = 0.15
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]

opendbc/car/honda/values.py

@@ -277,6 +277,11 @@ class CAR(Platforms):
     {Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated'},
     flags=HondaFlags.BOSCH_ALT_RADAR,
   )
+  # mid-model refresh
+  ACURA_TLX_2G_MMR = HondaBoschCANFDPlatformConfig(
+    [HondaCarDocs("Acura TLX 2025", "All")],
+    CarSpecs(mass=3990 * CV.LB_TO_KG, wheelbase=2.87, centerToFrontRatio=0.43, steerRatio=14.2),
+  )
 
   # Nidec Cars
   ACURA_ILX = HondaNidecPlatformConfig(

opendbc/car/tests/routes.py

@@ -127,6 +127,7 @@ routes = [
   # CarTestRoute("56b2cf1dacdcd033/00000017--d24ffdb376", HONDA.HONDA_CITY_7G),  # Brazilian model
   CarTestRoute("2dc4489d7e1410ca/00000001--bbec3f5117", HONDA.HONDA_CRV_6G),
   CarTestRoute("a703d058f4e05aeb/00000008--f169423024", HONDA.HONDA_PASSPORT_4G),
+  CarTestRoute("ad9840558640c31d/000001e3--597b055ad7", HONDA.ACURA_TLX_2G_MMR),
 
   CarTestRoute("87d7f06ade479c2e/2023-09-11--23-30-11", HYUNDAI.HYUNDAI_AZERA_6TH_GEN),
   CarTestRoute("66189dd8ec7b50e6/2023-09-20--07-02-12", HYUNDAI.HYUNDAI_AZERA_HEV_6TH_GEN),

opendbc/car/torque_data/override.toml

@@ -91,6 +91,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "HONDA_ODYSSEY_5G_MMR" = [0.9, 0.9, 0.2]
 "HONDA_NBOX_2G" = [1.2, 1.2, 0.2]
 "ACURA_TLX_2G" = [1.2, 1.2, 0.15]
+"ACURA_TLX_2G_MMR" = [1.6, 1.6, 0.14]
 "PORSCHE_MACAN_MK1" = [2.0, 2.0, 0.2]
 
 # Dashcam or fallback configured as ideal car