Honda Pilot 2017 Port (#161)

* Update README.md

* Update fingerprints.py

* Update carstate.py

* Update hondacan.py

* Update interface.py

* Update interface.py

* Update interface.py

* Update README.md

* Update README.md

* Update README.md

* Update fingerprints.py

* Update carstate.py

* Update hondacan.py

* Update interface.py

* Update carstate.py

* Update hondacan.py

* Update README.md

* Update fingerprints.py

* Update carstate.py

* Update carstate.py

* Update carstate.py

* Update hondacan.py

* Update interface.py

* Update carstate.py

* Update carstate.py

* Update Pilot Fingerprint

* Update fingerprints.py

* Give pilot its own definition and not use ILX

* add pilot argument

* Add Pilot interface

* Add pilot argument

* Update interface.py

* Parse Different gear on pilot

* Add steer max

* Fixed duplication of steer max value

* Adjust PID's for steering

* Update carcontroller.py

* Change Steer Ratio and wheelbase

* Update Steer fault values

Steer fault value of 3, does not seem to effect anything

* Update Kp,Ki Ratio

* Update interface.py

* Update readme for Pilot

* add pilot

* Update fingerprints.py

* Update carstate.py

* add signals

* add signal

README.md

@@ -35,6 +35,9 @@ Supported Cars
 - Acura RDX 2018 with AcuraWatch Plus (alpha!)
   - Can only be enabled above 25 mph
   
+- Honda Pilot 2017 with Honda Sensing (alpha!)
+  - Can only be enabled above 27 mph 
+
 - Toyota RAV-4 2016+ non-hybrid with TSS-P
   - By default it uses stock Toyota ACC for longitudinal control
   - openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Rav4_.28for_openpilot.29) and can be enabled above 20 mph
@@ -72,8 +75,6 @@ Community WIP Cars
 
 - [Classic Tesla Model S (pre-AP)](https://github.com/commaai/openpilot/pull/145)
 
-- [Honda Pilot 2017 with Honda Sensing](https://github.com/commaai/openpilot/pull/161)
-
 Directory structure
 ------
 

common/fingerprints.py

@@ -4,6 +4,7 @@ class HONDA:
   CRV = "HONDA CR-V 2016 TOURING"
   ODYSSEY = "HONDA ODYSSEY 2018 EX-L"
   ACURA_RDX = "ACURA RDX 2018 ACURAWATCH PLUS"
+  PILOT = "HONDA PILOT 2017 TOURING"
 
 
 class TOYOTA:
@@ -36,6 +37,9 @@ _FINGERPRINTS = {
   HONDA.ODYSSEY: {
     57L: 3, 148L: 8, 228L: 5, 229L: 4, 316L: 8, 342L: 6, 344L: 8, 380L: 8, 399L: 7, 411L: 5, 419L: 8, 420L: 8, 427L: 3, 432L: 7, 450L: 8, 463L: 8, 464L: 8, 476L: 4, 490L: 8, 506L: 8, 542L: 7, 545L: 6, 597L: 8, 662L: 4, 773L: 7, 777L: 8, 780L: 8, 795L: 8, 800L: 8, 804L: 8, 806L: 8, 808L: 8, 817L: 4, 819L: 7, 821L: 5, 825L: 4, 829L: 5, 837L: 5, 856L: 7, 862L: 8, 871L: 8, 881L: 8, 882L: 4, 884L: 8, 891L: 8, 892L: 8, 905L: 8, 923L: 2, 927L: 8, 929L: 8, 963L: 8, 965L: 8, 966L: 8, 967L: 8, 983L: 8, 985L: 3, 1029L: 8, 1036L: 8, 1052L: 8, 1064L: 7, 1088L: 8, 1089L: 8, 1092L: 1, 1108L: 8, 1110L: 8, 1125L: 8, 1296L: 8, 1302L: 8, 1600L: 5, 1601L: 8, 1612L: 5, 1613L: 5, 1614L: 5, 1615L: 8, 1616L: 5, 1619L: 5, 1623L: 5, 1668L: 5
   },
+  HONDA.PILOT: {
+    1600L: 5, 1027L: 5, 1668L: 5, 1029L: 8, 1601L: 8, 777L: 8, 891L: 8, 1036L: 8, 399L: 7, 1424L: 5, 145L: 8, 660L: 8, 985L: 3, 1616L: 5, 538L: 3, 795L: 8, 542L: 7, 773L: 7, 800L: 8, 545L: 5, 546L: 3, 419L: 8, 420L: 8, 422L: 8, 1064L: 7, 425L: 8, 426L: 8, 427L: 3, 432L: 7, 819L: 7, 308L: 5, 821L: 5, 57L: 3, 965L: 8, 316L: 8, 829L: 5, 1088L: 8, 1089L: 8, 963L: 8, 837L: 5, 966L: 8, 929L: 8, 780L: 8, 923L: 2, 1613L: 5, 334L: 8, 463L: 8, 464L: 8, 1618L: 5, 1108L: 8, 597L: 8, 342L: 6, 983L: 8, 856L: 7, 804L: 8, 1612L: 5, 476L: 4, 1125L: 8, 344L: 8, 1296L: 8, 379L: 8, 228L: 5, 229L: 4, 871L: 8, 892L: 8, 490L: 8, 808L: 8, 882L: 2, 884L: 7, 967L: 8, 506L: 8, 507L: 1, 380L: 8,
+  },
   TOYOTA.RAV4: {
     36L: 8, 37L: 8, 170L: 8, 180L: 8, 186L: 4, 426L: 6, 452L: 8, 464L: 8, 466L: 8, 467L: 8, 547L: 8, 548L: 8, 552L: 4, 562L: 4, 608L: 8, 610L: 5, 643L: 7, 705L: 8, 725L: 2, 740L: 5, 800L: 8, 835L: 8, 836L: 8, 849L: 4, 869L: 7, 870L: 7, 871L: 2, 896L: 8, 897L: 8, 900L: 6, 902L: 6, 905L: 8, 911L: 8, 916L: 3, 918L: 7, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 951L: 8, 955L: 4, 956L: 8, 979L: 2, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1005L: 2, 1008L: 2, 1014L: 8, 1017L: 8, 1041L: 8, 1042L: 8, 1043L: 8, 1044L: 8, 1056L: 8, 1059L: 1, 1114L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1176L: 8, 1177L: 8, 1178L: 8, 1179L: 8, 1180L: 8, 1181L: 8, 1190L: 8, 1191L: 8, 1192L: 8, 1196L: 8, 1227L: 8, 1228L: 8, 1235L: 8, 1237L: 8, 1263L: 8, 1264L: 8, 1279L: 8, 1408L: 8, 1409L: 8, 1410L: 8, 1552L: 8, 1553L: 8, 1554L: 8, 1555L: 8, 1556L: 8, 1557L: 8, 1561L: 8, 1562L: 8, 1568L: 8, 1569L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1584L: 8, 1589L: 8, 1592L: 8, 1593L: 8, 1595L: 8, 1596L: 8, 1597L: 8, 1600L: 8, 1656L: 8, 1664L: 8, 1728L: 8, 1745L: 8, 1779L: 8, 1904L: 8, 1912L: 8, 1990L: 8, 1998L: 8
   },

selfdrive/car/__init__.py

@@ -27,6 +27,8 @@ interfaces = {
   HONDA.CRV: HondaInterface,
   HONDA.ODYSSEY: HondaInterface,
   HONDA.ACURA_RDX: HondaInterface,  
+  HONDA.PILOT: HondaInterface,
+
 
   TOYOTA.PRIUS: ToyotaInterface,
   TOYOTA.RAV4: ToyotaInterface,

selfdrive/car/honda/carcontroller.py

@@ -116,7 +116,7 @@ class CarController(object):
     # *** compute control surfaces ***
     GAS_MAX = 1004
     BRAKE_MAX = 1024/4
-    if CS.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY):
+    if CS.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.PILOT):
       is_fw_modified = os.getenv("DONGLE_ID") in ['99c94dc769b5d96e']
       STEER_MAX = 0x1FFF if is_fw_modified else 0x1000
     elif CS.CP.carFingerprint in (CAR.CRV, CAR.ACURA_RDX):

selfdrive/car/honda/carstate.py

@@ -21,6 +21,7 @@ def parse_gear_shifter(can_gear_shifter, car_fingerprint):
       return "drive"
     elif can_gear_shifter == 0xa:
       return "sport"
+
   elif car_fingerprint in (CAR.CIVIC, CAR.CRV, CAR.ACURA_RDX):
     if can_gear_shifter == 0x4:
       return "neutral"
@@ -31,6 +32,16 @@ def parse_gear_shifter(can_gear_shifter, car_fingerprint):
     elif can_gear_shifter == 0x20:
       return "low"
     
+  elif car_fingerprint in (CAR.PILOT):
+     if can_gear_shifter == 0x8:
+       return "reverse"
+     elif can_gear_shifter == 0x4:
+       return "park"
+     elif can_gear_shifter == 0x20:
+       return "drive"
+     elif can_gear_shifter == 0x2:
+        return "sport"
+
   return "unknown"
 
 
@@ -122,6 +133,10 @@ def get_can_signals(CP):
                 ("EPB_STATE", "EPB_STATUS", 0),
                 ("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0)]
     checks += [("EPB_STATUS", 50)]
+  elif CP.carFingerprint == CAR.PILOT:
+    dbc_f = 'honda_pilot_touring_2017_can_generated.dbc'
+    signals += [("MAIN_ON", "SCM_BUTTONS", 0),
+                ("CAR_GAS", "GAS_PEDAL_2", 0)]
 
   # add gas interceptor reading if we are using it
   if CP.enableGas:
@@ -184,9 +199,9 @@ class CarState(object):
                                     cp.vl["DOORS_STATUS"]['DOOR_OPEN_RL'], cp.vl["DOORS_STATUS"]['DOOR_OPEN_RR']])
     self.seatbelt = not cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_LAMP'] and cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_LATCHED']
 
-    # 2 = temporary 4 = temporary, hit a bump 5 (permanent) 6 = temporary 7 (permanent)
+    # 2 = temporary 3= TBD 4 = temporary, hit a bump 5 (permanent) 6 = temporary 7 (permanent)
     # TODO: Use values from DBC to parse this field
-    self.steer_error = cp.vl["STEER_STATUS"]['STEER_STATUS'] not in [0, 2, 4, 6]
+    self.steer_error = cp.vl["STEER_STATUS"]['STEER_STATUS'] not in [0, 2, 3, 4, 6]
     self.steer_not_allowed = cp.vl["STEER_STATUS"]['STEER_STATUS'] != 0
     self.brake_error = cp.vl["STANDSTILL"]['BRAKE_ERROR_1'] or cp.vl["STANDSTILL"]['BRAKE_ERROR_2']
     self.esp_disabled = cp.vl["VSA_STATUS"]['ESP_DISABLED']

selfdrive/car/honda/hondacan.py

@@ -104,6 +104,9 @@ def create_radar_commands(v_ego, car_fingerprint, idx):
   elif car_fingerprint == CAR.ACURA_ILX:
     msg_0x301 = "\x0f\x18\x51\x02\x5a\x00\x00"
     commands.append(make_can_msg(0x300, msg_0x300, idx, 1))
+  elif car_fingerprint == CAR.PILOT:
+    msg_0x301 = "\x00\x00\x56\x02\x58\x00\x00"
+    commands.append(make_can_msg(0x300, msg_0x300, idx, 1))    
 
   commands.append(make_can_msg(0x301, msg_0x301, idx, 1))
   return commands

selfdrive/car/honda/interface.py

@@ -211,6 +211,18 @@ class CarInterface(object):
       ret.steerRatio = 14.35
       ret.steerKp, ret.steerKi = 0.6, 0.18
 
+      ret.longitudinalKpBP = [0., 5., 35.]
+      ret.longitudinalKpV = [1.2, 0.8, 0.5]
+      ret.longitudinalKiBP = [0., 35.]
+      ret.longitudinalKiV = [0.18, 0.12]
+    elif candidate == CAR.PILOT:
+      stop_and_go = False
+      ret.mass = 4303./2.205 + std_cargo
+      ret.wheelbase = 2.81
+      ret.centerToFront = ret.wheelbase * 0.41
+      ret.steerRatio = 16.0
+      ret.steerKp, ret.steerKi = 0.38, 0.11
+
       ret.longitudinalKpBP = [0., 5., 35.]
       ret.longitudinalKpV = [1.2, 0.8, 0.5]
       ret.longitudinalKiBP = [0., 35.]