From 745c8ce522baa6b74aeddd72a34acef79e0c5b79 Mon Sep 17 00:00:00 2001
From: HaraldSchafer <harald.the.engineer@gmail.com>
Date: Mon, 6 Sep 2021 21:11:26 -0700
Subject: [PATCH] Speed only ACC control for NIDEC Odyssey (#22156)

* speed only nidec control

* mergeable
old-commit-hash: 449a28b9aa0e9307124961958b26c3a6125de023
---
 selfdrive/car/honda/carcontroller.py | 23 ++++++++++++++++-------
 selfdrive/car/honda/values.py        |  1 +
 2 files changed, 17 insertions(+), 7 deletions(-)

diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index 9e1c675da1..b57bd79aca 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -5,7 +5,7 @@ from selfdrive.controls.lib.drive_helpers import rate_limit
 from common.numpy_fast import clip, interp
 from selfdrive.car import create_gas_command
 from selfdrive.car.honda import hondacan
-from selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, CarControllerParams
+from selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
 from opendbc.can.packer import CANPacker
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -183,16 +183,25 @@ class CarController():
     # all of this is only relevant for HONDA NIDEC
     max_accel = interp(CS.out.vEgo, P.NIDEC_MAX_ACCEL_BP, P.NIDEC_MAX_ACCEL_V)
     # TODO this 1.44 is just to maintain previous behavior
-    pcm_accel = int(clip((accel/1.44)/max_accel, 0.0, 1.0) * 0xc6)
     pcm_speed_BP = [-wind_brake,
                     -wind_brake*(3/4),
                       0.0,
-                      0.1]
+                      0.5]
+    # The Honda ODYSSEY seems to have different PCM_ACCEL
+    # msgs, is it other cars too?
+    if CS.CP.carFingerprint in HONDA_NIDEC_ALT_PCM_ACCEL:
+      pcm_speed_V = [0.0,
+                     clip(CS.out.vEgo - 3.0, 0.0, 100.0),
+                     clip(CS.out.vEgo + 0.0, 0.0, 100.0),
+                     clip(CS.out.vEgo + 5.0, 0.0, 100.0)]
+      pcm_accel = int((1.0) * 0xc6)
+    else:
+      pcm_speed_V = [0.0,
+                     clip(CS.out.vEgo - 2.0, 0.0, 100.0),
+                     clip(CS.out.vEgo + 2.0, 0.0, 100.0),
+                     clip(CS.out.vEgo + 5.0, 0.0, 100.0)]
+      pcm_accel = int(clip((accel/1.44)/max_accel, 0.0, 1.0) * 0xc6)
 
-    pcm_speed_V = [0.0,
-                   clip(CS.out.vEgo + accel/2.0 - 2.0, 0.0, 100.0),
-                   clip(CS.out.vEgo + accel/2.0 + 2.0, 0.0, 100.0),
-                   clip(CS.out.vEgo + 5.0, 0.0, 100.0)]
     pcm_speed = interp(gas-brake, pcm_speed_BP, pcm_speed_V)
 
     if not CS.CP.openpilotLongitudinalControl:
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index ed0af59c80..9497d16aa7 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -1272,5 +1272,6 @@ SPEED_FACTOR = {
   CAR.HRV: 1.025,
 }
 
+HONDA_NIDEC_ALT_PCM_ACCEL = set([CAR.ODYSSEY])
 HONDA_BOSCH = set([CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G])
 HONDA_BOSCH_ALT_BRAKE_SIGNAL = set([CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G])