diff --git a/README.md b/README.md index 5ed95350fc..6a73421cca 100644 --- a/README.md +++ b/README.md @@ -79,6 +79,7 @@ Supported Cars | Honda | CR-V 2015-16 | Touring | Yes | Yes | 25mph1| 12mph | Nidec | | Honda | CR-V 2017-19 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch | | Honda | CR-V Hybrid 2017-2019 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch | +| Honda | Fit 2018 | Honda Sensing | Yes | Yes | 25mph1| 12mph | Inverted Nidec | | Honda | Odyssey 2018-19 | Honda Sensing | Yes | Yes | 25mph1| 0mph | Inverted Nidec | | Honda | Passport 2019 | All | Yes | Yes | 25mph1| 12mph | Inverted Nidec | | Honda | Pilot 2016-18 | Honda Sensing | Yes | Yes | 25mph1| 12mph | Nidec | diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py index abd622d154..0ec7aff052 100644 --- a/selfdrive/car/honda/carstate.py +++ b/selfdrive/car/honda/carstate.py @@ -133,6 +133,10 @@ def get_can_signals(CP): ("MAIN_ON", "SCM_BUTTONS", 0)] elif CP.carFingerprint in (CAR.CRV, CAR.ACURA_RDX, CAR.PILOT_2019, CAR.RIDGELINE): signals += [("MAIN_ON", "SCM_BUTTONS", 0)] + elif CP.carFingerprint == CAR.FIT: + signals += [("CAR_GAS", "GAS_PEDAL_2", 0), + ("MAIN_ON", "SCM_BUTTONS", 0), + ("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0)] elif CP.carFingerprint == CAR.ODYSSEY: signals += [("MAIN_ON", "SCM_FEEDBACK", 0), ("EPB_STATE", "EPB_STATUS", 0)] diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index d192f3a34f..be7da4aa04 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -250,6 +250,19 @@ class CarInterface(object): ret.longitudinalTuning.kiBP = [0., 35.] ret.longitudinalTuning.kiV = [0.18, 0.12] + elif candidate == CAR.FIT: + stop_and_go = False + ret.mass = 2644. * CV.LB_TO_KG + STD_CARGO_KG + ret.wheelbase = 2.53 + ret.centerToFront = ret.wheelbase * 0.39 + ret.steerRatio = 13.06 + tire_stiffness_factor = 0.75 # not optimized yet + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.06]] + 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 ret.mass = 3935. * CV.LB_TO_KG + STD_CARGO_KG diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index c7acaffc82..a7c5a92063 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -40,6 +40,7 @@ class CAR: CRV = "HONDA CR-V 2016 TOURING" CRV_5G = "HONDA CR-V 2017 EX" CRV_HYBRID = "HONDA CR-V 2019 HYBRID" + FIT = "HONDA FIT 2018 EX" ODYSSEY = "HONDA ODYSSEY 2018 EX-L" ODYSSEY_CHN = "HONDA ODYSSEY 2019 EXCLUSIVE CHN" ACURA_RDX = "ACURA RDX 2018 ACURAWATCH PLUS" @@ -83,6 +84,9 @@ FINGERPRINTS = { CAR.CRV_HYBRID: [{ 57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 387: 8, 388: 8, 399: 7, 408: 6, 415: 6, 419: 8, 420: 8, 427: 3, 428: 8, 432: 7, 441: 5, 450: 8, 464: 8, 477: 8, 479: 8, 490: 8, 495: 8, 525: 8, 531: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 814: 4, 829: 5, 833: 6, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 930: 8, 931: 8, 1302: 8, 1361: 5, 1365: 5, 1600: 5, 1601: 8, 1626: 5, 1627: 5 }], + CAR.FIT: [{ + 57: 3, 145: 8, 228: 5, 304: 8, 342: 6, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 422: 8, 427: 3, 428: 8, 432: 7, 464: 8, 487: 4, 490: 8, 506: 8, 597: 8, 660: 8, 661: 4, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 829: 5, 862: 8, 884: 7, 892: 8, 929: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1108: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8 + }], # 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 @@ -133,6 +137,7 @@ DBC = { CAR.CRV: dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'), CAR.CRV_5G: dbc_dict('honda_crv_ex_2017_can_generated', None), CAR.CRV_HYBRID: dbc_dict('honda_crv_hybrid_2019_can_generated', None), + CAR.FIT: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), CAR.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'), CAR.ODYSSEY_CHN: dbc_dict('honda_odyssey_extreme_edition_2018_china_can', 'acura_ilx_2016_nidec'), CAR.PILOT: dbc_dict('honda_pilot_touring_2017_can_generated', 'acura_ilx_2016_nidec'), @@ -151,6 +156,7 @@ STEER_THRESHOLD = { CAR.CRV: 1200, CAR.CRV_5G: 1200, CAR.CRV_HYBRID: 1200, + CAR.FIT: 1200, CAR.ODYSSEY: 1200, CAR.ODYSSEY_CHN: 1200, CAR.PILOT: 1200, @@ -169,6 +175,7 @@ SPEED_FACTOR = { CAR.CRV: 1.025, CAR.CRV_5G: 1.025, CAR.CRV_HYBRID: 1.025, + CAR.FIT: 1., CAR.ODYSSEY: 1., CAR.ODYSSEY_CHN: 1., CAR.PILOT: 1.,