From 882a2adc8b392f7c32d7fbaeee706f02015aef0e Mon Sep 17 00:00:00 2001 From: royjr Date: Fri, 14 Apr 2023 05:56:10 -0400 Subject: [PATCH] Honda Bosch Radarless: check cruise faults (#27814) * add signal checks * add radarless * not yet * nestless * append instead * bump * match check above --------- Co-authored-by: Shane Smiskol --- opendbc | 2 +- selfdrive/car/honda/carstate.py | 9 +++++++-- 2 files changed, 8 insertions(+), 3 deletions(-) diff --git a/opendbc b/opendbc index f50e9d78bd..933d784a0d 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit f50e9d78bd51dcd784310f18406922f491a0085a +Subproject commit 933d784a0d901657a278ee6e56a154e7e8214f1f diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py index eea78758a8..99b8c43635 100644 --- a/selfdrive/car/honda/carstate.py +++ b/selfdrive/car/honda/carstate.py @@ -120,7 +120,10 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg): signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR")) checks.append(("GAS_SENSOR", 50)) - if CP.openpilotLongitudinalControl: + if CP.carFingerprint in HONDA_BOSCH_RADARLESS: + signals.append(("CRUISE_FAULT", "CRUISE_FAULT_STATUS")) + checks.append(("CRUISE_FAULT_STATUS", 50)) + elif CP.openpilotLongitudinalControl: signals += [ ("BRAKE_ERROR_1", "STANDSTILL"), ("BRAKE_ERROR_2", "STANDSTILL") @@ -191,7 +194,9 @@ class CarState(CarStateBase): # NO_TORQUE_ALERT_2 can be caused by bump or steering nudge from driver ret.steerFaultTemporary = steer_status not in ("NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2") - if self.CP.openpilotLongitudinalControl: + if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS: + self.brake_error = cp.vl["CRUISE_FAULT_STATUS"]["CRUISE_FAULT"] + elif self.CP.openpilotLongitudinalControl: self.brake_error = cp.vl["STANDSTILL"]["BRAKE_ERROR_1"] or cp.vl["STANDSTILL"]["BRAKE_ERROR_2"] ret.espDisabled = cp.vl["VSA_STATUS"]["ESP_DISABLED"] != 0