civic22_long

cereal

@@ -1 +1 @@
-Subproject commit 2335f98bbe628ec6fde92c8d929ecaf373b125af
+Subproject commit 589ef049a7b0bac31f4c8987c0fc539839fae489

opendbc

@@ -1 +1 @@
-Subproject commit e95ed311c10547026143b539a33341425cbec9ea
+Subproject commit b913296c9123441b2b271c00239929ed388169b5

panda

@@ -1 +1 @@
-Subproject commit 19983f13b37518298a3c282d5069c090b68f6864
+Subproject commit a45e99b16645783a65e84d7b6d0b59d639ebff47

selfdrive/car/honda/hondacan.py

@@ -51,33 +51,40 @@ def create_acc_commands(packer, enabled, active, accel, gas, stopping, car_finge
   min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0]
 
   control_on = 5 if enabled else 0
+  control_off = not enabled
   gas_command = gas if active and accel > min_gas_accel else -30000
   accel_command = accel if active else 0
   braking = 1 if active and accel < min_gas_accel else 0
   standstill = 1 if active and stopping else 0
   standstill_release = 1 if active and not stopping else 0
 
-  acc_control_values = {
-    # setting CONTROL_ON causes car to set POWERTRAIN_DATA->ACC_STATUS = 1
-    "CONTROL_ON": control_on,
-    "GAS_COMMAND": gas_command,  # used for gas
-    "ACCEL_COMMAND": accel_command,  # used for brakes
-    "BRAKE_LIGHTS": braking,
-    "BRAKE_REQUEST": braking,
-    "STANDSTILL": standstill,
-    "STANDSTILL_RELEASE": standstill_release,
-  }
-  commands.append(packer.make_can_msg("ACC_CONTROL", bus, acc_control_values))
-
-  acc_control_on_values = {
-    "SET_TO_3": 0x03,
-    "CONTROL_ON": enabled,
-    "SET_TO_FF": 0xff,
-    "SET_TO_75": 0x75,
-    "SET_TO_30": 0x30,
-  }
-  commands.append(packer.make_can_msg("ACC_CONTROL_ON", bus, acc_control_on_values))
-
+  if car_fingerprint in HONDA_BOSCH_RADARLESS:
+    acc_control_values = {
+      "CONTROL_ON": control_on,
+      "CONTROL_OFF": control_off,
+      "ACCEL_COMMAND": accel_command,
+    }
+    commands.append(packer.make_can_msg("ACC_CONTROL", bus, acc_control_values))
+  else:
+    acc_control_values = {
+      # setting CONTROL_ON causes car to set POWERTRAIN_DATA->ACC_STATUS = 1
+      "CONTROL_ON": control_on,
+      "GAS_COMMAND": gas_command,  # used for gas
+      "ACCEL_COMMAND": accel_command,  # used for brakes
+      "BRAKE_LIGHTS": braking,
+      "BRAKE_REQUEST": braking,
+      "STANDSTILL": standstill,
+      "STANDSTILL_RELEASE": standstill_release,
+    }
+    commands.append(packer.make_can_msg("ACC_CONTROL", bus, acc_control_values))
+    acc_control_on_values = {
+      "SET_TO_3": 0x03,
+      "CONTROL_ON": enabled,
+      "SET_TO_FF": 0xff,
+      "SET_TO_75": 0x75,
+      "SET_TO_30": 0x30,
+    }
+    commands.append(packer.make_can_msg("ACC_CONTROL_ON", bus, acc_control_on_values))
   return commands
 
 

selfdrive/car/honda/interface.py

@@ -36,13 +36,11 @@ class CarInterface(CarInterfaceBase):
     if candidate in HONDA_BOSCH:
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaBosch)]
       ret.radarOffCan = True
-
-      if candidate not in HONDA_BOSCH_RADARLESS:
-        # Disable the radar and let openpilot control longitudinal
-        # WARNING: THIS DISABLES AEB!
-        ret.experimentalLongitudinalAvailable = True
-        ret.openpilotLongitudinalControl = experimental_long
-
+      # Disable the radar and let openpilot control longitudinal
+      # WARNING: THIS DISABLES AEB!
+      # If Bosch radarless, this blocks ACC messages from the camera
+      ret.experimentalLongitudinalAvailable = True
+      ret.openpilotLongitudinalControl = experimental_long
       ret.pcmCruise = not ret.openpilotLongitudinalControl
     else:
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaNidec)]