Honda cleanup (#22008)

* cleanup magic numbers

* long tuning

* indentation

* remove noqa

* little more

.pre-commit-config.yaml

@@ -21,8 +21,7 @@ repos:
     -   id: flake8
         exclude: '^(pyextra)|(cereal)|(rednose)|(panda)|(laika)|(opendbc)|(laika_repo)|(rednose_repo)|(selfdrive/debug)/'
         args:
-        - --select=F,E112,E113,E304,E501,E502,E701,E702,E703,E71,E72,E731,W191,W6
+        - --select=F,E112,E113,E304,E502,E701,E702,E703,E71,E72,E731,W191,W6
-        - --max-line-length=240
         - --statistics
 -   repo: local
     hooks:

selfdrive/car/honda/carcontroller.py

@@ -11,12 +11,12 @@ from opendbc.can.packer import CANPacker
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
 
-#TODO not clear this does anything useful
+# TODO: not clear this does anything useful
 def actuator_hystereses(brake, braking, brake_steady, v_ego, car_fingerprint):
   # hyst params
   brake_hyst_on = 0.02     # to activate brakes exceed this value
-  brake_hyst_off = 0.005                     # to deactivate brakes below this value
+  brake_hyst_off = 0.005   # to deactivate brakes below this value
-  brake_hyst_gap = 0.01                      # don't change brake command for small oscillations within this value
+  brake_hyst_gap = 0.01    # don't change brake command for small oscillations within this value
 
   #*** hysteresis logic to avoid brake blinking. go above 0.1 to trigger
   if (brake < brake_hyst_on and not braking) or brake < brake_hyst_off:
@@ -85,7 +85,6 @@ class CarController():
     self.apply_brake_last = 0
     self.last_pump_ts = 0.
     self.packer = CANPacker(dbc_name)
-    self.new_radar_config = False
 
     self.params = CarControllerParams(CP)
 

selfdrive/car/honda/carstate.py

@@ -257,7 +257,7 @@ class CarState(CarStateBase):
       self.brake_error = cp.vl["STANDSTILL"]["BRAKE_ERROR_1"] or cp.vl["STANDSTILL"]["BRAKE_ERROR_2"]
     ret.espDisabled = cp.vl["VSA_STATUS"]["ESP_DISABLED"] != 0
 
-    speed_factor = SPEED_FACTOR[self.CP.carFingerprint]
+    speed_factor = SPEED_FACTOR.get(self.CP.carFingerprint, 1.)
     ret.wheelSpeeds.fl = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"] * CV.KPH_TO_MS * speed_factor
     ret.wheelSpeeds.fr = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"] * CV.KPH_TO_MS * speed_factor
     ret.wheelSpeeds.rl = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"] * CV.KPH_TO_MS * speed_factor
@@ -311,7 +311,7 @@ class CarState(CarStateBase):
 
     ret.steeringTorque = cp.vl["STEER_STATUS"]["STEER_TORQUE_SENSOR"]
     ret.steeringTorqueEps = cp.vl["STEER_MOTOR_TORQUE"]["MOTOR_TORQUE"]
-    ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD[self.CP.carFingerprint]
+    ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD.get(self.CP.carFingerprint, 1200)
 
     if self.CP.carFingerprint in HONDA_BOSCH:
       if not self.CP.openpilotLongitudinalControl:

selfdrive/car/honda/hondacan.py

@@ -1,7 +1,7 @@
 from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
-from selfdrive.swaglog import cloudlog
-from selfdrive.config import Conversions as CV
 from selfdrive.car.honda.values import HONDA_BOSCH, CAR
+from selfdrive.config import Conversions as CV
+from selfdrive.swaglog import cloudlog
 
 # CAN bus layout with relay
 # 0 = ACC-CAN - radar side

selfdrive/car/honda/interface.py

@@ -3,11 +3,11 @@ from cereal import car
 from panda import Panda
 from common.numpy_fast import interp
 from common.params import Params
-from selfdrive.config import Conversions as CV
 from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, CAR, HONDA_BOSCH, HONDA_BOSCH_ALT_BRAKE_SIGNAL
 from selfdrive.car.honda.hondacan import disable_radar
 from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase
+from selfdrive.config import Conversions as CV
 
 
 ButtonType = car.CarState.ButtonEvent.Type
@@ -117,6 +117,12 @@ class CarInterface(CarInterfaceBase):
     ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
     ret.lateralTuning.pid.kf = 0.00006  # conservative feed-forward
 
+    # default longitudinal tuning for all hondas
+    ret.longitudinalTuning.kpBP = [0., 5., 35.]
+    ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
+    ret.longitudinalTuning.kiBP = [0., 35.]
+    ret.longitudinalTuning.kiV = [0.18, 0.12]
+
     eps_modified = False
     for fw in car_fw:
       if fw.ecu == "eps" and b"," in fw.fwVersion:
@@ -141,10 +147,6 @@ class CarInterface(CarInterfaceBase):
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
       tire_stiffness_factor = 1.
-      ret.longitudinalTuning.kpBP = [0., 5., 35.]
-      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
-      ret.longitudinalTuning.kiBP = [0., 35.]
-      ret.longitudinalTuning.kiV = [0.18, 0.12]
 
     elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL):
       stop_and_go = True
@@ -155,10 +157,6 @@ class CarInterface(CarInterfaceBase):
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 1.
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
-      ret.longitudinalTuning.kpBP = [0., 5., 35.]
-      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
-      ret.longitudinalTuning.kiBP = [0., 35.]
-      ret.longitudinalTuning.kiV = [0.18, 0.12]
 
     elif candidate in (CAR.ACCORD, CAR.ACCORDH):
       stop_and_go = True
@@ -168,10 +166,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 16.33  # 11.82 is spec end-to-end
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.8467
-      ret.longitudinalTuning.kpBP = [0., 5., 35.]
-      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
-      ret.longitudinalTuning.kiBP = [0., 35.]
-      ret.longitudinalTuning.kiV = [0.18, 0.12]
 
       if eps_modified:
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]
@@ -187,10 +181,6 @@ class CarInterface(CarInterfaceBase):
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.72
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
-      ret.longitudinalTuning.kpBP = [0., 5., 35.]
-      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
-      ret.longitudinalTuning.kiBP = [0., 35.]
-      ret.longitudinalTuning.kiV = [0.18, 0.12]
 
     elif candidate in (CAR.CRV, CAR.CRV_EU):
       stop_and_go = False
@@ -201,10 +191,6 @@ class CarInterface(CarInterfaceBase):
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.444
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
-      ret.longitudinalTuning.kpBP = [0., 5., 35.]
-      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
-      ret.longitudinalTuning.kiBP = [0., 35.]
-      ret.longitudinalTuning.kiV = [0.18, 0.12]
 
     elif candidate == CAR.CRV_5G:
       stop_and_go = True
@@ -222,10 +208,6 @@ class CarInterface(CarInterfaceBase):
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
       tire_stiffness_factor = 0.677
-      ret.longitudinalTuning.kpBP = [0., 5., 35.]
-      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
-      ret.longitudinalTuning.kiBP = [0., 35.]
-      ret.longitudinalTuning.kiV = [0.18, 0.12]
 
     elif candidate == CAR.CRV_HYBRID:
       stop_and_go = True
@@ -236,10 +218,6 @@ class CarInterface(CarInterfaceBase):
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.677
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
-      ret.longitudinalTuning.kpBP = [0., 5., 35.]
-      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
-      ret.longitudinalTuning.kiBP = [0., 35.]
-      ret.longitudinalTuning.kiV = [0.18, 0.12]
 
     elif candidate == CAR.FIT:
       stop_and_go = False
@@ -250,10 +228,6 @@ class CarInterface(CarInterfaceBase):
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.75
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
-      ret.longitudinalTuning.kpBP = [0., 5., 35.]
-      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
-      ret.longitudinalTuning.kiBP = [0., 35.]
-      ret.longitudinalTuning.kiV = [0.18, 0.12]
 
     elif candidate == CAR.HRV:
       stop_and_go = False
@@ -264,10 +238,6 @@ class CarInterface(CarInterfaceBase):
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
       tire_stiffness_factor = 0.5
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
-      ret.longitudinalTuning.kpBP = [0., 5., 35.]
-      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
-      ret.longitudinalTuning.kiBP = [0., 35.]
-      ret.longitudinalTuning.kiV = [0.18, 0.12]
 
     elif candidate == CAR.ACURA_RDX:
       stop_and_go = False
@@ -278,10 +248,6 @@ class CarInterface(CarInterfaceBase):
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.444
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
-      ret.longitudinalTuning.kpBP = [0., 5., 35.]
-      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
-      ret.longitudinalTuning.kiBP = [0., 35.]
-      ret.longitudinalTuning.kiV = [0.18, 0.12]
 
     elif candidate == CAR.ACURA_RDX_3G:
       stop_and_go = True
@@ -292,10 +258,6 @@ class CarInterface(CarInterfaceBase):
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
       tire_stiffness_factor = 0.677
-      ret.longitudinalTuning.kpBP = [0., 5., 35.]
-      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
-      ret.longitudinalTuning.kiBP = [0., 35.]
-      ret.longitudinalTuning.kiV = [0.18, 0.12]
 
     elif candidate == CAR.ODYSSEY:
       stop_and_go = False
@@ -306,10 +268,6 @@ class CarInterface(CarInterfaceBase):
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.82
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
-      ret.longitudinalTuning.kpBP = [0., 5., 35.]
-      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
-      ret.longitudinalTuning.kiBP = [0., 35.]
-      ret.longitudinalTuning.kiV = [0.18, 0.12]
 
     elif candidate == CAR.ODYSSEY_CHN:
       stop_and_go = False
@@ -320,10 +278,6 @@ class CarInterface(CarInterfaceBase):
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.82
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
-      ret.longitudinalTuning.kpBP = [0., 5., 35.]
-      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
-      ret.longitudinalTuning.kiBP = [0., 35.]
-      ret.longitudinalTuning.kiV = [0.18, 0.12]
 
     elif candidate in (CAR.PILOT, CAR.PILOT_2019):
       stop_and_go = False
@@ -334,10 +288,6 @@ class CarInterface(CarInterfaceBase):
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.444
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
-      ret.longitudinalTuning.kpBP = [0., 5., 35.]
-      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
-      ret.longitudinalTuning.kiBP = [0., 35.]
-      ret.longitudinalTuning.kiV = [0.18, 0.12]
 
     elif candidate == CAR.RIDGELINE:
       stop_and_go = False
@@ -348,10 +298,6 @@ class CarInterface(CarInterfaceBase):
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.444
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
-      ret.longitudinalTuning.kpBP = [0., 5., 35.]
-      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
-      ret.longitudinalTuning.kiBP = [0., 35.]
-      ret.longitudinalTuning.kiV = [0.18, 0.12]
 
     elif candidate == CAR.INSIGHT:
       stop_and_go = True
@@ -362,10 +308,6 @@ class CarInterface(CarInterfaceBase):
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.82
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
-      ret.longitudinalTuning.kpBP = [0., 5., 35.]
-      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
-      ret.longitudinalTuning.kiBP = [0., 35.]
-      ret.longitudinalTuning.kiV = [0.18, 0.12]
 
     else:
       raise ValueError("unsupported car %s" % candidate)

selfdrive/car/honda/values.py

@@ -1,5 +1,3 @@
-# flake8: noqa
-
 from cereal import car
 from selfdrive.car import dbc_dict
 
@@ -10,25 +8,25 @@ class CarControllerParams():
   ACCEL_MAX = 1.6
 
   def __init__(self, CP):
-      self.BRAKE_MAX = 1024//4
+    self.BRAKE_MAX = 1024//4
-      self.STEER_MAX = CP.lateralParams.torqueBP[-1]
+    self.STEER_MAX = CP.lateralParams.torqueBP[-1]
-      # mirror of list (assuming first item is zero) for interp of signed request values
+    # mirror of list (assuming first item is zero) for interp of signed request values
-      assert(CP.lateralParams.torqueBP[0] == 0)
+    assert(CP.lateralParams.torqueBP[0] == 0)
-      assert(CP.lateralParams.torqueBP[0] == 0)
+    assert(CP.lateralParams.torqueBP[0] == 0)
-      self.STEER_LOOKUP_BP = [v * -1 for v in CP.lateralParams.torqueBP][1:][::-1] + list(CP.lateralParams.torqueBP)
+    self.STEER_LOOKUP_BP = [v * -1 for v in CP.lateralParams.torqueBP][1:][::-1] + list(CP.lateralParams.torqueBP)
-      self.STEER_LOOKUP_V = [v * -1 for v in CP.lateralParams.torqueV][1:][::-1] + list(CP.lateralParams.torqueV)
+    self.STEER_LOOKUP_V = [v * -1 for v in CP.lateralParams.torqueV][1:][::-1] + list(CP.lateralParams.torqueV)
 
-      self.NIDEC_ACCEL_LOOKUP_BP = [-1., 0., .6]
+    self.NIDEC_ACCEL_LOOKUP_BP = [-1., 0., .6]
-      self.NIDEC_ACCEL_LOOKUP_V = [-4.8, 0., 2.0]
+    self.NIDEC_ACCEL_LOOKUP_V = [-4.8, 0., 2.0]
 
-      self.NIDEC_MAX_ACCEL_V = [0.5, 2.4, 1.4, 0.6]
+    self.NIDEC_MAX_ACCEL_V = [0.5, 2.4, 1.4, 0.6]
-      self.NIDEC_MAX_ACCEL_BP = [0.0, 4.0, 10., 20.]
+    self.NIDEC_MAX_ACCEL_BP = [0.0, 4.0, 10., 20.]
 
 
-      self.BOSCH_ACCEL_LOOKUP_BP = [-1., 0., 0.6]
+    self.BOSCH_ACCEL_LOOKUP_BP = [-1., 0., 0.6]
-      self.BOSCH_ACCEL_LOOKUP_V = [-3.5, 0., 2.]
+    self.BOSCH_ACCEL_LOOKUP_V = [-3.5, 0., 2.]
-      self.BOSCH_GAS_LOOKUP_BP = [0., 0.6]
+    self.BOSCH_GAS_LOOKUP_BP = [0., 0.6]
-      self.BOSCH_GAS_LOOKUP_V = [0, 2000]
+    self.BOSCH_GAS_LOOKUP_V = [0, 2000]
 
 
 # Car button codes
@@ -38,7 +36,7 @@ class CruiseButtons:
   CANCEL = 2
   MAIN = 1
 
-# See dbc files for info on values"
+# See dbc files for info on values
 VISUAL_HUD = {
   VisualAlert.none: 0,
   VisualAlert.fcw: 1,
@@ -47,7 +45,8 @@ VISUAL_HUD = {
   VisualAlert.brakePressed: 10,
   VisualAlert.wrongGear: 6,
   VisualAlert.seatbeltUnbuckled: 5,
-  VisualAlert.speedTooHigh: 8}
+  VisualAlert.speedTooHigh: 8
+}
 
 class CAR:
   ACCORD = "HONDA ACCORD 2018"
@@ -78,7 +77,6 @@ FINGERPRINTS = {
   CAR.ACCORDH: [{
     148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 387: 8, 388: 8, 399: 7, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 525: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
   }],
-  # Acura RDX w/ Added Comma Pedal Support (512L & 513L)
   CAR.ACURA_RDX: [{
     57: 3, 145: 8, 229: 4, 308: 5, 316: 8, 342: 6, 344: 8, 380: 8, 392: 6, 398: 3, 399: 6, 404: 4, 420: 8, 422: 8, 426: 8, 432: 7, 464: 8, 474: 5, 476: 4, 487: 4, 490: 8, 506: 8, 512: 6, 513: 6, 542: 7, 545: 4, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 882: 2, 884: 7, 887: 8, 888: 8, 892: 8, 923: 2, 929: 4, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1033: 5, 1034: 5, 1036: 8, 1039: 8, 1057: 5, 1064: 7, 1108: 8, 1365: 5, 1424: 5, 1729: 1
   }],
@@ -86,32 +84,26 @@ FINGERPRINTS = {
     57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 427: 3, 428: 8, 432: 7, 450: 8, 464: 8, 470: 2, 476: 7, 487: 4, 490: 8, 493: 5, 506: 8, 512: 6, 513: 6, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 892: 8, 927: 8, 929: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1108: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1633: 8,
   }],
   CAR.CIVIC_BOSCH: [{
-  # 2017 Civic Hatchback EX, 2019 Civic Sedan Touring Canadian, and 2018 Civic Hatchback Executive Premium 1.0L CVT European
     57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 427: 3, 428: 8, 432: 7, 441: 5, 450: 8, 460: 3, 464: 8, 470: 2, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 506: 8, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 892: 8, 927: 8, 929: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1108: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1625: 5, 1629: 5, 1633: 8,
   },
-  # 2017 Civic Hatchback LX
   {
     57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 423: 2, 427: 3, 428: 8, 432: 7, 441: 5, 450: 8, 464: 8, 470: 2, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 506: 8, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 815: 8, 825: 4, 829: 5, 846: 8, 862: 8, 881: 8, 882: 4, 884: 8, 888: 8, 891: 8, 892: 8, 918: 7, 927: 8, 929: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1092: 1, 1108: 8, 1125: 8, 1127: 2, 1296: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1633: 8
   }],
   CAR.CRV_5G: [{
     57: 3, 148: 8, 199: 4, 228: 5, 231: 5, 232: 7, 304: 8, 330: 8, 340: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 423: 2, 427: 3, 428: 8, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 467: 2, 469: 3, 470: 2, 474: 8, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 507: 1, 545: 6, 597: 8, 661: 4, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 814: 4, 815: 8, 817: 4, 825: 4, 829: 5, 862: 8, 881: 8, 882: 4, 884: 8, 888: 8, 891: 8, 927: 8, 918: 7, 929: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1108: 8, 1092: 1, 1115: 2, 1125: 8, 1127: 2, 1296: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1618: 5, 1633: 8, 1670: 5
   }],
-  # 2018 Odyssey w/ Added Comma Pedal Support (512L & 513L)
   CAR.ODYSSEY: [{
     57: 3, 148: 8, 228: 5, 229: 4, 316: 8, 342: 6, 344: 8, 380: 8, 399: 7, 411: 5, 419: 8, 420: 8, 427: 3, 432: 7, 450: 8, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 512: 6, 513: 6, 542: 7, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 817: 4, 819: 7, 821: 5, 825: 4, 829: 5, 837: 5, 856: 7, 862: 8, 871: 8, 881: 8, 882: 4, 884: 8, 891: 8, 892: 8, 905: 8, 923: 2, 927: 8, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1029: 8, 1036: 8, 1052: 8, 1064: 7, 1088: 8, 1089: 8, 1092: 1, 1108: 8, 1110: 8, 1125: 8, 1296: 8, 1302: 8, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1614: 5, 1615: 8, 1616: 5, 1619: 5, 1623: 5, 1668: 5
   },
-  # 2018 Odyssey Elite w/ Added Comma Pedal Support (512L & 513L)
   {
     57: 3, 148: 8, 228: 5, 229: 4, 304: 8, 342: 6, 344: 8, 380: 8, 399: 7, 411: 5, 419: 8, 420: 8, 427: 3, 432: 7, 440: 8, 450: 8, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 507: 1, 542: 7, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 817: 4, 819: 7, 821: 5, 825: 4, 829: 5, 837: 5, 856: 7, 862: 8, 871: 8, 881: 8, 882: 4, 884: 8, 891: 8, 892: 8, 905: 8, 923: 2, 927: 8, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1029: 8, 1036: 8, 1052: 8, 1064: 7, 1088: 8, 1089: 8, 1092: 1, 1108: 8, 1110: 8, 1125: 8, 1296: 8, 1302: 8, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1614: 5, 1616: 5, 1619: 5, 1623: 5, 1668: 5
   }],
   CAR.ODYSSEY_CHN: [{
     57: 3, 145: 8, 316: 8, 342: 6, 344: 8, 380: 8, 398: 3, 399: 7, 401: 8, 404: 4, 411: 5, 420: 8, 422: 8, 423: 2, 426: 8, 432: 7, 450: 8, 464: 8, 490: 8, 506: 8, 507: 1, 512: 6, 513: 6, 597: 8, 610: 8, 611: 8, 612: 8, 617: 8, 660: 8, 661: 4, 773: 7, 780: 8, 804: 8, 808: 8, 829: 5, 862: 8, 884: 7, 892: 8, 923: 2, 929: 8, 1030: 5, 1137: 8, 1302: 8, 1348: 5, 1361: 5, 1365: 5, 1600: 5, 1601: 8, 1639: 8
   }],
-  # this fingerprint also includes the Passport 2019
   CAR.PILOT_2019: [{
     57: 3, 145: 8, 228: 5, 308: 5, 316: 8, 334: 8, 342: 6, 344: 8, 379: 8, 380: 8, 399: 7, 411: 5, 419: 8, 420: 8, 422: 8, 425: 8, 426: 8, 427: 3, 432: 7, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 512: 6, 513: 6, 538: 3, 542: 7, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 808: 8, 817: 4, 819: 7, 821: 5, 825: 4, 829: 5, 837: 5, 856: 7, 871: 8, 881: 8, 882: 2, 884: 7, 891: 8, 892: 8, 923: 2, 927: 8, 929: 8, 983: 8, 985: 3, 1029: 8, 1052: 8, 1064: 7, 1088: 8, 1089: 8, 1092: 1, 1108: 8, 1110: 8, 1125: 8, 1296: 8, 1424: 5, 1445: 8, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1614: 5, 1615: 8, 1616: 5, 1617: 8, 1618: 5, 1623: 5, 1668: 5
   },
-  # 2019 Pilot EX-L
   {
     57: 3, 145: 8, 228: 5, 229: 4, 308: 5, 316: 8, 339: 7, 342: 6, 344: 8, 380: 8, 392: 6, 399: 7, 411: 5, 419: 8, 420: 8, 422: 8, 425: 8, 426: 8, 427: 3, 432: 7, 464: 8, 476: 4, 490: 8, 506: 8, 512: 6, 513: 6, 542: 7, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 808: 8, 817: 4, 819: 7, 821: 5, 829: 5, 871: 8, 881: 8, 882: 2, 884: 7, 891: 8, 892: 8, 923: 2, 927: 8, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1027: 5, 1029: 8, 1039: 8, 1064: 7, 1088: 8, 1089: 8, 1092: 1, 1108: 8, 1125: 8, 1296: 8, 1424: 5, 1445: 8, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1616: 5, 1617: 8, 1618: 5, 1623: 5, 1668: 5
   }],
@@ -1259,49 +1251,19 @@ DBC = {
 }
 
 STEER_THRESHOLD = {
-  CAR.ACCORD: 1200,
+  # default is 1200, overrides go here
-  CAR.ACCORDH: 1200,
-  CAR.ACURA_ILX: 1200,
   CAR.ACURA_RDX: 400,
-  CAR.ACURA_RDX_3G: 1200,
-  CAR.CIVIC: 1200,
-  CAR.CIVIC_BOSCH: 1200,
-  CAR.CIVIC_BOSCH_DIESEL: 1200,
-  CAR.CRV: 1200,
-  CAR.CRV_5G: 1200,
   CAR.CRV_EU: 400,
-  CAR.CRV_HYBRID: 1200,
-  CAR.FIT: 1200,
-  CAR.HRV: 1200,
-  CAR.ODYSSEY: 1200,
-  CAR.ODYSSEY_CHN: 1200,
-  CAR.PILOT: 1200,
-  CAR.PILOT_2019: 1200,
-  CAR.RIDGELINE: 1200,
-  CAR.INSIGHT: 1200,
 }
 
+# TODO: is this real?
 SPEED_FACTOR = {
-  CAR.ACCORD: 1.,
+  # default is 1, overrides go here
-  CAR.ACCORDH: 1.,
-  CAR.ACURA_ILX: 1.,
-  CAR.ACURA_RDX: 1.,
-  CAR.ACURA_RDX_3G: 1.,
-  CAR.CIVIC: 1.,
-  CAR.CIVIC_BOSCH: 1.,
-  CAR.CIVIC_BOSCH_DIESEL: 1.,
   CAR.CRV: 1.025,
   CAR.CRV_5G: 1.025,
   CAR.CRV_EU: 1.025,
   CAR.CRV_HYBRID: 1.025,
-  CAR.FIT: 1.,
   CAR.HRV: 1.025,
-  CAR.ODYSSEY: 1.,
-  CAR.ODYSSEY_CHN: 1.,
-  CAR.PILOT: 1.,
-  CAR.PILOT_2019: 1.,
-  CAR.RIDGELINE: 1.,
-  CAR.INSIGHT: 1.,
 }
 
 OLD_NIDEC_LONG_CONTROL = set([CAR.ODYSSEY, CAR.ACURA_RDX, CAR.CRV, CAR.HRV])