Honda: move carspecs to platformconfig (#31657)

* first pass * fix
1 year ago · a6a6f7bb50
parent e341707b0f
commit a6a6f7bb50
2 changed files with 23 additions and 70 deletions
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@ -92,10 +92,6 @@ class CarInterface(CarInterfaceBase):
        eps_modified = True

    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:
        # 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
@ -110,18 +106,10 @@ class CarInterface(CarInterfaceBase):
        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):
-      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.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]

    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.tireStiffnessFactor = 0.8467

@ -131,29 +119,17 @@ class CarInterface(CarInterfaceBase):
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]

    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.tireStiffnessFactor = 0.72
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]

    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.tireStiffnessFactor = 0.444
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
      ret.wheelSpeedFactor = 1.025

    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:
        # 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
@ -167,39 +143,22 @@ class CarInterface(CarInterfaceBase):
      ret.wheelSpeedFactor = 1.025

    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.tireStiffnessFactor = 0.677
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
      ret.wheelSpeedFactor = 1.025

    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.tireStiffnessFactor = 0.75
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]

    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.tireStiffnessFactor = 0.75
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]

    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.tireStiffnessFactor = 0.5
      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

    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.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]]

    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.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
      ret.tireStiffnessFactor = 0.677

    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.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
      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

    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.tireStiffnessFactor = 0.444
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]

    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.tireStiffnessFactor = 0.444
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]

    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.tireStiffnessFactor = 0.82
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]

    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.tireStiffnessFactor = 0.82
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@ -4,7 +4,7 @@ from enum import Enum, IntFlag
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
 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.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),
    ],
    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,
  )
  CIVIC_BOSCH = HondaPlatformConfig(
@ -127,12 +128,14 @@ class CAR(Platforms):
      HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS),
    ],
    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
  )
  CIVIC_BOSCH_DIESEL = HondaPlatformConfig(
    "HONDA CIVIC SEDAN 1.6 DIESEL 2019",
    None, # don't show in docs
    dbc_dict('honda_accord_2018_can_generated', None),
+    specs=CIVIC_BOSCH.specs,
    flags=HondaFlags.BOSCH
  )
  CIVIC_2022 = HondaPlatformConfig(
@ -142,42 +145,49 @@ class CAR(Platforms):
      HondaCarInfo("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
    ],
    dbc_dict('honda_civic_ex_2022_can_generated', None),
+    specs=CIVIC_BOSCH.specs,
    flags=HondaFlags.BOSCH | HondaFlags.BOSCH_RADARLESS,
  )
  CRV_5G = HondaPlatformConfig(
    "HONDA CR-V 2017",
    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'),
+    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,
  )
  CRV_HYBRID = HondaPlatformConfig(
    "HONDA CR-V HYBRID 2019",
    HondaCarInfo("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS),
    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
  )
  HRV_3G = HondaPlatformConfig(
    "HONDA HR-V 2023",
    HondaCarInfo("Honda HR-V 2023", "All"),
    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
  )
  ACURA_RDX_3G = HondaPlatformConfig(
    "ACURA RDX 2020",
    HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
    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
  )
  INSIGHT = HondaPlatformConfig(
    "HONDA INSIGHT 2019",
    HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
    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
  )
  HONDA_E = HondaPlatformConfig(
    "HONDA E 2020",
    HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS),
    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
  )

@ -186,54 +196,63 @@ class CAR(Platforms):
    "ACURA ILX 2016",
    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'),
+    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,
  )
  CRV = HondaPlatformConfig(
    "HONDA CR-V 2016",
    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'),
+    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,
  )
  CRV_EU = HondaPlatformConfig(
    "HONDA CR-V EU 2016",
    None, # Euro version of CRV Touring, don't show in docs
    dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'),
+    specs=CRV.specs,
    flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
  )
  FIT = HondaPlatformConfig(
    "HONDA FIT 2018",
    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'),
+    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,
  )
  FREED = HondaPlatformConfig(
    "HONDA FREED 2020",
    HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS),
    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,
  )
  HRV = HondaPlatformConfig(
    "HONDA HRV 2019",
    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'),
+    specs=HRV_3G.specs,
    flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
  )
  ODYSSEY = HondaPlatformConfig(
    "HONDA ODYSSEY 2018",
    HondaCarInfo("Honda Odyssey 2018-20"),
    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
  )
  ODYSSEY_CHN = HondaPlatformConfig(
    "HONDA ODYSSEY CHN 2019",
    None, # Chinese version of Odyssey, don't show in docs
    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
  )
  ACURA_RDX = HondaPlatformConfig(
    "ACURA RDX 2018",
    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'),
+    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,
  )
  PILOT = HondaPlatformConfig(
@ -243,18 +262,21 @@ class CAR(Platforms):
      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'),
+    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,
  )
  RIDGELINE = HondaPlatformConfig(
    "HONDA RIDGELINE 2017",
    HondaCarInfo("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS),
    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,
  )
  CIVIC = HondaPlatformConfig(
    "HONDA CIVIC 2016",
    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'),
+    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,
  )