sadmen
/
openpilot_comma
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Adds 2018 Honda Fit support (#266)

Browse Source 
* Fit rebased on latest devel

* Added new objects for fit to values.py

* Update readme

* Updated formatting of fingerprint to match others

* Update cargo variable

Co-Authored-By: Pramuditha Aravinda <pramudithaa@zone24x7.com>

* Added tire stiffness, renamed PID kp/ki variables

Co-Authored-By: Pramuditha Aravinda <pramudithaa@zone24x7.com>

* Renamed longitudinal KpBP

Co-Authored-By: Pramuditha Aravinda <pramudithaa@zone24x7.com>

* Renamed longitudinal kpV

Co-Authored-By: Pramuditha Aravinda <pramudithaa@zone24x7.com>

* Renamed longitudinal KiBP variable

Co-Authored-By: Pramuditha Aravinda <pramudithaa@zone24x7.com>

* Renamed longitudinal KiV

Co-Authored-By: Pramuditha Aravinda <pramudithaa@zone24x7.com>

* Set more realistic value for tire stiffness

* CR-V Hybrid doc duplicate

old-commit-hash: c73464f67f
commatwo_master
Ted Slesinski 6 years ago committed by rbiasini
parent 9f61759d45
commit 24829da756
4 changed files with 25 additions and 0 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 1
      README.md
  2. 4
      selfdrive/car/honda/carstate.py
  3. 13
      selfdrive/car/honda/interface.py
  4. 7
      selfdrive/car/honda/values.py

1
README.md
Unescape View File

@ -79,6 +79,7 @@ Supported Cars
| Honda | CR-V 2015-16 | Touring | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec | | Honda | CR-V 2015-16 | Touring | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Honda | CR-V 2017-19 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch | | 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 | CR-V Hybrid 2017-2019 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
| Honda | Fit 2018 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Inverted Nidec |
| Honda | Odyssey 2018-19 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 0mph | Inverted Nidec | | Honda | Odyssey 2018-19 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 0mph | Inverted Nidec |
| Honda | Passport 2019 | All | Yes | Yes | 25mph<sup>1</sup>| 12mph | Inverted Nidec | | Honda | Passport 2019 | All | Yes | Yes | 25mph<sup>1</sup>| 12mph | Inverted Nidec |
| Honda | Pilot 2016-18 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec | | Honda | Pilot 2016-18 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |

4
selfdrive/car/honda/carstate.py
Unescape View File

@ -133,6 +133,10 @@ def get_can_signals(CP):
("MAIN_ON", "SCM_BUTTONS", 0)] ("MAIN_ON", "SCM_BUTTONS", 0)]
elif CP.carFingerprint in (CAR.CRV, CAR.ACURA_RDX, CAR.PILOT_2019, CAR.RIDGELINE): elif CP.carFingerprint in (CAR.CRV, CAR.ACURA_RDX, CAR.PILOT_2019, CAR.RIDGELINE):
signals += [("MAIN_ON", "SCM_BUTTONS", 0)] 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: elif CP.carFingerprint == CAR.ODYSSEY:
signals += [("MAIN_ON", "SCM_FEEDBACK", 0), signals += [("MAIN_ON", "SCM_FEEDBACK", 0),
("EPB_STATE", "EPB_STATUS", 0)] ("EPB_STATE", "EPB_STATUS", 0)]

13
selfdrive/car/honda/interface.py
Unescape View File

@ -250,6 +250,19 @@ class CarInterface(object):
ret.longitudinalTuning.kiBP = [0., 35.] ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12] 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: elif candidate == CAR.ACURA_RDX:
stop_and_go = False stop_and_go = False
ret.mass = 3935. * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 3935. * CV.LB_TO_KG + STD_CARGO_KG

7
selfdrive/car/honda/values.py
Unescape View File

@ -40,6 +40,7 @@ class CAR:
CRV = "HONDA CR-V 2016 TOURING" CRV = "HONDA CR-V 2016 TOURING"
CRV_5G = "HONDA CR-V 2017 EX" CRV_5G = "HONDA CR-V 2017 EX"
CRV_HYBRID = "HONDA CR-V 2019 HYBRID" CRV_HYBRID = "HONDA CR-V 2019 HYBRID"
FIT = "HONDA FIT 2018 EX"
ODYSSEY = "HONDA ODYSSEY 2018 EX-L" ODYSSEY = "HONDA ODYSSEY 2018 EX-L"
ODYSSEY_CHN = "HONDA ODYSSEY 2019 EXCLUSIVE CHN" ODYSSEY_CHN = "HONDA ODYSSEY 2019 EXCLUSIVE CHN"
ACURA_RDX = "ACURA RDX 2018 ACURAWATCH PLUS" ACURA_RDX = "ACURA RDX 2018 ACURAWATCH PLUS"
@ -83,6 +84,9 @@ FINGERPRINTS = {
CAR.CRV_HYBRID: [{ 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 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) # 2018 Odyssey w/ Added Comma Pedal Support (512L & 513L)
CAR.ODYSSEY: [{ 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 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: 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_5G: dbc_dict('honda_crv_ex_2017_can_generated', None),
CAR.CRV_HYBRID: dbc_dict('honda_crv_hybrid_2019_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: 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.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'), 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: 1200,
CAR.CRV_5G: 1200, CAR.CRV_5G: 1200,
CAR.CRV_HYBRID: 1200, CAR.CRV_HYBRID: 1200,
CAR.FIT: 1200,
CAR.ODYSSEY: 1200, CAR.ODYSSEY: 1200,
CAR.ODYSSEY_CHN: 1200, CAR.ODYSSEY_CHN: 1200,
CAR.PILOT: 1200, CAR.PILOT: 1200,
@ -169,6 +175,7 @@ SPEED_FACTOR = {
CAR.CRV: 1.025, CAR.CRV: 1.025,
CAR.CRV_5G: 1.025, CAR.CRV_5G: 1.025,
CAR.CRV_HYBRID: 1.025, CAR.CRV_HYBRID: 1.025,
CAR.FIT: 1.,
CAR.ODYSSEY: 1., CAR.ODYSSEY: 1.,
CAR.ODYSSEY_CHN: 1., CAR.ODYSSEY_CHN: 1.,
CAR.PILOT: 1., CAR.PILOT: 1.,

Write Preview
Loading…
Cancel
Save