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Honda: move carspecs to platformconfig (#31657)

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* first pass

* fix
pull/31659/head
Justin Newberry 1 year ago committed by GitHub
parent e341707b0f
commit a6a6f7bb50
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2 changed files with 23 additions and 70 deletions
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  1. 69
      selfdrive/car/honda/interface.py
  2. 24
      selfdrive/car/honda/values.py

69
selfdrive/car/honda/interface.py
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@ -92,10 +92,6 @@ class CarInterface(CarInterfaceBase):
eps_modified = True eps_modified = True
if candidate == CAR.CIVIC: if candidate == CAR.CIVIC:
ret.mass = 1326.
ret.wheelbase = 2.70
ret.centerToFront = ret.wheelbase * 0.4
ret.steerRatio = 15.38 # 10.93 is end-to-end spec
if eps_modified: if eps_modified:
# stock request input values: 0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE # stock request input values: 0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE
# stock request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x1680, 0x1680 # stock request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x1680, 0x1680
@ -110,18 +106,10 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CIVIC_2022): elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CIVIC_2022):
ret.mass = 1326.
ret.wheelbase = 2.70
ret.centerToFront = ret.wheelbase * 0.4
ret.steerRatio = 15.38 # 10.93 is end-to-end spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
elif candidate == CAR.ACCORD: elif candidate == CAR.ACCORD:
ret.mass = 3279. * CV.LB_TO_KG
ret.wheelbase = 2.83
ret.centerToFront = ret.wheelbase * 0.39
ret.steerRatio = 16.33 # 11.82 is spec end-to-end
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.tireStiffnessFactor = 0.8467 ret.tireStiffnessFactor = 0.8467
@ -131,29 +119,17 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
elif candidate == CAR.ACURA_ILX: elif candidate == CAR.ACURA_ILX:
ret.mass = 3095. * CV.LB_TO_KG
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.37
ret.steerRatio = 18.61 # 15.3 is spec end-to-end
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] # TODO: determine if there is a dead zone at the top end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] # TODO: determine if there is a dead zone at the top end
ret.tireStiffnessFactor = 0.72 ret.tireStiffnessFactor = 0.72
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
elif candidate in (CAR.CRV, CAR.CRV_EU): elif candidate in (CAR.CRV, CAR.CRV_EU):
ret.mass = 3572. * CV.LB_TO_KG
ret.wheelbase = 2.62
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 16.89 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end
ret.tireStiffnessFactor = 0.444 ret.tireStiffnessFactor = 0.444
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
ret.wheelSpeedFactor = 1.025 ret.wheelSpeedFactor = 1.025
elif candidate == CAR.CRV_5G: elif candidate == CAR.CRV_5G:
ret.mass = 3410. * CV.LB_TO_KG
ret.wheelbase = 2.66
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 16.0 # 12.3 is spec end-to-end
if eps_modified: if eps_modified:
# stock request input values: 0x0000, 0x00DB, 0x01BB, 0x0296, 0x0377, 0x0454, 0x0532, 0x0610, 0x067F # stock request input values: 0x0000, 0x00DB, 0x01BB, 0x0296, 0x0377, 0x0454, 0x0532, 0x0610, 0x067F
# stock request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400 # stock request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400
@ -167,39 +143,22 @@ class CarInterface(CarInterfaceBase):
ret.wheelSpeedFactor = 1.025 ret.wheelSpeedFactor = 1.025
elif candidate == CAR.CRV_HYBRID: elif candidate == CAR.CRV_HYBRID:
ret.mass = 1667. # mean of 4 models in kg
ret.wheelbase = 2.66
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 16.0 # 12.3 is spec end-to-end
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.tireStiffnessFactor = 0.677 ret.tireStiffnessFactor = 0.677
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
ret.wheelSpeedFactor = 1.025 ret.wheelSpeedFactor = 1.025
elif candidate == CAR.FIT: elif candidate == CAR.FIT:
ret.mass = 2644. * CV.LB_TO_KG
ret.wheelbase = 2.53
ret.centerToFront = ret.wheelbase * 0.39
ret.steerRatio = 13.06
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.tireStiffnessFactor = 0.75 ret.tireStiffnessFactor = 0.75
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
elif candidate == CAR.FREED: elif candidate == CAR.FREED:
ret.mass = 3086. * CV.LB_TO_KG
ret.wheelbase = 2.74
# the remaining parameters were copied from FIT
ret.centerToFront = ret.wheelbase * 0.39
ret.steerRatio = 13.06
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
ret.tireStiffnessFactor = 0.75 ret.tireStiffnessFactor = 0.75
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
elif candidate in (CAR.HRV, CAR.HRV_3G): elif candidate in (CAR.HRV, CAR.HRV_3G):
ret.mass = 3125 * CV.LB_TO_KG
ret.wheelbase = 2.61
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 15.2
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
ret.tireStiffnessFactor = 0.5 ret.tireStiffnessFactor = 0.5
if candidate == CAR.HRV: if candidate == CAR.HRV:
@ -209,28 +168,16 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] # TODO: can probably use some tuning ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] # TODO: can probably use some tuning
elif candidate == CAR.ACURA_RDX: elif candidate == CAR.ACURA_RDX:
ret.mass = 3935. * CV.LB_TO_KG
ret.wheelbase = 2.68
ret.centerToFront = ret.wheelbase * 0.38
ret.steerRatio = 15.0 # as spec
ret.tireStiffnessFactor = 0.444 ret.tireStiffnessFactor = 0.444
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
elif candidate == CAR.ACURA_RDX_3G: elif candidate == CAR.ACURA_RDX_3G:
ret.mass = 4068. * CV.LB_TO_KG
ret.wheelbase = 2.75
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 11.95 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
ret.tireStiffnessFactor = 0.677 ret.tireStiffnessFactor = 0.677
elif candidate in (CAR.ODYSSEY, CAR.ODYSSEY_CHN): elif candidate in (CAR.ODYSSEY, CAR.ODYSSEY_CHN):
ret.mass = 1900.
ret.wheelbase = 3.00
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 14.35 # as spec
ret.tireStiffnessFactor = 0.82 ret.tireStiffnessFactor = 0.82
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
if candidate == CAR.ODYSSEY_CHN: if candidate == CAR.ODYSSEY_CHN:
@ -239,37 +186,21 @@ class CarInterface(CarInterfaceBase):
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
elif candidate == CAR.PILOT: elif candidate == CAR.PILOT:
ret.mass = 4278. * CV.LB_TO_KG # average weight
ret.wheelbase = 2.86
ret.centerToFront = ret.wheelbase * 0.428
ret.steerRatio = 16.0 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.tireStiffnessFactor = 0.444 ret.tireStiffnessFactor = 0.444
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
elif candidate == CAR.RIDGELINE: elif candidate == CAR.RIDGELINE:
ret.mass = 4515. * CV.LB_TO_KG
ret.wheelbase = 3.18
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 15.59 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.tireStiffnessFactor = 0.444 ret.tireStiffnessFactor = 0.444
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
elif candidate == CAR.INSIGHT: elif candidate == CAR.INSIGHT:
ret.mass = 2987. * CV.LB_TO_KG
ret.wheelbase = 2.7
ret.centerToFront = ret.wheelbase * 0.39
ret.steerRatio = 15.0 # 12.58 is spec end-to-end
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.tireStiffnessFactor = 0.82 ret.tireStiffnessFactor = 0.82
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
elif candidate == CAR.HONDA_E: elif candidate == CAR.HONDA_E:
ret.mass = 3338.8 * CV.LB_TO_KG
ret.wheelbase = 2.5
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 16.71
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.tireStiffnessFactor = 0.82 ret.tireStiffnessFactor = 0.82
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning

24
selfdrive/car/honda/values.py
Unescape View File

@ -4,7 +4,7 @@ from enum import Enum, IntFlag
from cereal import car from cereal import car
from openpilot.common.conversions import Conversions as CV from openpilot.common.conversions import Conversions as CV
from panda.python import uds from panda.python import uds
from openpilot.selfdrive.car import PlatformConfig, Platforms, dbc_dict from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, dbc_dict
from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
@ -117,6 +117,7 @@ class CAR(Platforms):
HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
], ],
dbc_dict('honda_accord_2018_can_generated', None), dbc_dict('honda_accord_2018_can_generated', None),
specs=CarSpecs(mass=3279 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.33, centerToFrontRatio=0.39), # steerRatio: 11.82 is spec end-to-end
flags=HondaFlags.BOSCH, flags=HondaFlags.BOSCH,
) )
CIVIC_BOSCH = HondaPlatformConfig( CIVIC_BOSCH = HondaPlatformConfig(
@ -127,12 +128,14 @@ class CAR(Platforms):
HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS), HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS),
], ],
dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None), dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None),
specs=CarSpecs(mass=1326, wheelbase=2.7, steerRatio=15.38, centerToFrontRatio=0.4), # steerRatio: 10.93 is end-to-end spec
flags=HondaFlags.BOSCH flags=HondaFlags.BOSCH
) )
CIVIC_BOSCH_DIESEL = HondaPlatformConfig( CIVIC_BOSCH_DIESEL = HondaPlatformConfig(
"HONDA CIVIC SEDAN 1.6 DIESEL 2019", "HONDA CIVIC SEDAN 1.6 DIESEL 2019",
None, # don't show in docs None, # don't show in docs
dbc_dict('honda_accord_2018_can_generated', None), dbc_dict('honda_accord_2018_can_generated', None),
specs=CIVIC_BOSCH.specs,
flags=HondaFlags.BOSCH flags=HondaFlags.BOSCH
) )
CIVIC_2022 = HondaPlatformConfig( CIVIC_2022 = HondaPlatformConfig(
@ -142,42 +145,49 @@ class CAR(Platforms):
HondaCarInfo("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"), HondaCarInfo("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
], ],
dbc_dict('honda_civic_ex_2022_can_generated', None), dbc_dict('honda_civic_ex_2022_can_generated', None),
specs=CIVIC_BOSCH.specs,
flags=HondaFlags.BOSCH | HondaFlags.BOSCH_RADARLESS, flags=HondaFlags.BOSCH | HondaFlags.BOSCH_RADARLESS,
) )
CRV_5G = HondaPlatformConfig( CRV_5G = HondaPlatformConfig(
"HONDA CR-V 2017", "HONDA CR-V 2017",
HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS), HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS),
dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'), dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'),
specs=CarSpecs(mass=3410 * CV.LB_TO_KG, wheelbase=2.66, steerRatio=16.0, centerToFrontRatio=0.41), # steerRatio: 12.3 is spec end-to-end
flags=HondaFlags.BOSCH, flags=HondaFlags.BOSCH,
) )
CRV_HYBRID = HondaPlatformConfig( CRV_HYBRID = HondaPlatformConfig(
"HONDA CR-V HYBRID 2019", "HONDA CR-V HYBRID 2019",
HondaCarInfo("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS), HondaCarInfo("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS),
dbc_dict('honda_accord_2018_can_generated', None), dbc_dict('honda_accord_2018_can_generated', None),
specs=CarSpecs(mass=1667, wheelbase=2.66, steerRatio=16, centerToFrontRatio=0.41), # mass: mean of 4 models in kg, steerRatio: 12.3 is spec end-to-end
flags=HondaFlags.BOSCH flags=HondaFlags.BOSCH
) )
HRV_3G = HondaPlatformConfig( HRV_3G = HondaPlatformConfig(
"HONDA HR-V 2023", "HONDA HR-V 2023",
HondaCarInfo("Honda HR-V 2023", "All"), HondaCarInfo("Honda HR-V 2023", "All"),
dbc_dict('honda_civic_ex_2022_can_generated', None), dbc_dict('honda_civic_ex_2022_can_generated', None),
specs=CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.61, steerRatio=15.2, centerToFrontRatio=0.41),
flags=HondaFlags.BOSCH | HondaFlags.BOSCH_RADARLESS flags=HondaFlags.BOSCH | HondaFlags.BOSCH_RADARLESS
) )
ACURA_RDX_3G = HondaPlatformConfig( ACURA_RDX_3G = HondaPlatformConfig(
"ACURA RDX 2020", "ACURA RDX 2020",
HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
dbc_dict('acura_rdx_2020_can_generated', None), dbc_dict('acura_rdx_2020_can_generated', None),
specs=CarSpecs(mass=4068 * CV.LB_TO_KG, wheelbase=2.75, steerRatio=11.95, centerToFrontRatio=0.41), # as spec
flags=HondaFlags.BOSCH flags=HondaFlags.BOSCH
) )
INSIGHT = HondaPlatformConfig( INSIGHT = HondaPlatformConfig(
"HONDA INSIGHT 2019", "HONDA INSIGHT 2019",
HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
dbc_dict('honda_insight_ex_2019_can_generated', None), dbc_dict('honda_insight_ex_2019_can_generated', None),
specs=CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.0, centerToFrontRatio=0.39), # as spec
flags=HondaFlags.BOSCH flags=HondaFlags.BOSCH
) )
HONDA_E = HondaPlatformConfig( HONDA_E = HondaPlatformConfig(
"HONDA E 2020", "HONDA E 2020",
HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS), HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS),
dbc_dict('acura_rdx_2020_can_generated', None), dbc_dict('acura_rdx_2020_can_generated', None),
specs=CarSpecs(mass=3338.8 * CV.LB_TO_KG, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71),
flags=HondaFlags.BOSCH flags=HondaFlags.BOSCH
) )
@ -186,54 +196,63 @@ class CAR(Platforms):
"ACURA ILX 2016", "ACURA ILX 2016",
HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS), HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS),
dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
specs=CarSpecs(mass=3095 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=18.61, centerToFrontRatio=0.37), # 15.3 is spec end-to-end
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
) )
CRV = HondaPlatformConfig( CRV = HondaPlatformConfig(
"HONDA CR-V 2016", "HONDA CR-V 2016",
HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS), HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS),
dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'), dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
specs=CarSpecs(mass=3572 * CV.LB_TO_KG, wheelbase=2.62, steerRatio=16.89, centerToFrontRatio=0.41), # as spec
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
) )
CRV_EU = HondaPlatformConfig( CRV_EU = HondaPlatformConfig(
"HONDA CR-V EU 2016", "HONDA CR-V EU 2016",
None, # Euro version of CRV Touring, don't show in docs None, # Euro version of CRV Touring, don't show in docs
dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'), dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'),
specs=CRV.specs,
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
) )
FIT = HondaPlatformConfig( FIT = HondaPlatformConfig(
"HONDA FIT 2018", "HONDA FIT 2018",
HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS), HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS),
dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
specs=CarSpecs(mass=2644 * CV.LB_TO_KG, wheelbase=2.53, steerRatio=13.06, centerToFrontRatio=0.39),
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
) )
FREED = HondaPlatformConfig( FREED = HondaPlatformConfig(
"HONDA FREED 2020", "HONDA FREED 2020",
HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS), HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS),
dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
specs=CarSpecs(mass=3086. * CV.LB_TO_KG, wheelbase=2.74, steerRatio=13.06, centerToFrontRatio=0.39), # mostly copied from FIT
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
) )
HRV = HondaPlatformConfig( HRV = HondaPlatformConfig(
"HONDA HRV 2019", "HONDA HRV 2019",
HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS), HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS),
dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
specs=HRV_3G.specs,
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
) )
ODYSSEY = HondaPlatformConfig( ODYSSEY = HondaPlatformConfig(
"HONDA ODYSSEY 2018", "HONDA ODYSSEY 2018",
HondaCarInfo("Honda Odyssey 2018-20"), HondaCarInfo("Honda Odyssey 2018-20"),
dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'), dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
specs=CarSpecs(mass=1900, wheelbase=3.0, steerRatio=14.35, centerToFrontRatio=0.41),
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_PCM_ACCEL flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_PCM_ACCEL
) )
ODYSSEY_CHN = HondaPlatformConfig( ODYSSEY_CHN = HondaPlatformConfig(
"HONDA ODYSSEY CHN 2019", "HONDA ODYSSEY CHN 2019",
None, # Chinese version of Odyssey, don't show in docs None, # Chinese version of Odyssey, don't show in docs
dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'), dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'),
specs=ODYSSEY.specs,
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES
) )
ACURA_RDX = HondaPlatformConfig( ACURA_RDX = HondaPlatformConfig(
"ACURA RDX 2018", "ACURA RDX 2018",
HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS), HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS),
dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'), dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
specs=CarSpecs(mass=3925 * CV.LB_TO_KG, wheelbase=2.68, steerRatio=15.0, centerToFrontRatio=0.38), # as spec
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
) )
PILOT = HondaPlatformConfig( PILOT = HondaPlatformConfig(
@ -243,18 +262,21 @@ class CAR(Platforms):
HondaCarInfo("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS), HondaCarInfo("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS),
], ],
dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
specs=CarSpecs(mass=4278 * CV.LB_TO_KG, wheelbase=2.86, centerToFrontRatio=0.428, steerRatio=16.0), # as spec
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
) )
RIDGELINE = HondaPlatformConfig( RIDGELINE = HondaPlatformConfig(
"HONDA RIDGELINE 2017", "HONDA RIDGELINE 2017",
HondaCarInfo("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS), HondaCarInfo("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS),
dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
specs=CarSpecs(mass=4515 * CV.LB_TO_KG, wheelbase=3.18, centerToFrontRatio=0.41, steerRatio=15.59), # as spec
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
) )
CIVIC = HondaPlatformConfig( CIVIC = HondaPlatformConfig(
"HONDA CIVIC 2016", "HONDA CIVIC 2016",
HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE"), HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE"),
dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'), dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
specs=CarSpecs(mass=1326, wheelbase=2.70, centerToFrontRatio=0.4, steerRatio=15.38), # 10.93 is end-to-end spec
flags=HondaFlags.NIDEC | HondaFlags.AUTORESUME_SNG | HondaFlags.ELECTRIC_PARKING_BRAKE, flags=HondaFlags.NIDEC | HondaFlags.AUTORESUME_SNG | HondaFlags.ELECTRIC_PARKING_BRAKE,
) )

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