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Honda: merge Passport platform into Pilot (#27061)

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* Move Passport FW versions to Pilot

* lol, all duplicates already in pilot

* No Passport

* Better params for both
pull/27066/head
Shane Smiskol 3 years ago committed by GitHub
parent e49c7fa2bf
commit b2c6d5d34a
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6 changed files with 21 additions and 49 deletions
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  1. 2
      selfdrive/car/honda/carstate.py
  2. 8
      selfdrive/car/honda/interface.py
  3. 55
      selfdrive/car/honda/values.py
  4. 2
      selfdrive/car/tests/routes.py
  5. 2
      selfdrive/car/tests/test_models.py
  6. 1
      selfdrive/car/torque_data/params.yaml

2
selfdrive/car/honda/carstate.py
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@ -274,7 +274,7 @@ class CarState(CarStateBase):
ret.cruiseState.available = bool(cp.vl[self.main_on_sig_msg]["MAIN_ON"])
# Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models
if self.CP.carFingerprint in (CAR.PILOT, CAR.PASSPORT, CAR.RIDGELINE):
if self.CP.carFingerprint in (CAR.PILOT, CAR.RIDGELINE):
if ret.brake > 0.1:
ret.brakePressed = True

8
selfdrive/car/honda/interface.py
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@ -231,11 +231,11 @@ class CarInterface(CarInterfaceBase):
else:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
elif candidate in (CAR.PILOT, CAR.PASSPORT):
ret.mass = 4204. * CV.LB_TO_KG + STD_CARGO_KG # average weight
ret.wheelbase = 2.82
elif candidate == CAR.PILOT:
ret.mass = 4278. * CV.LB_TO_KG + STD_CARGO_KG # average weight
ret.wheelbase = 2.86
ret.centerToFront = ret.wheelbase * 0.428
ret.steerRatio = 17.25 # as spec
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
tire_stiffness_factor = 0.444
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]

55
selfdrive/car/honda/values.py
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@ -91,7 +91,6 @@ class CAR:
ACURA_RDX = "ACURA RDX 2018"
ACURA_RDX_3G = "ACURA RDX 2020"
PILOT = "HONDA PILOT 2017"
PASSPORT = "HONDA PASSPORT 2021"
RIDGELINE = "HONDA RIDGELINE 2017"
INSIGHT = "HONDA INSIGHT 2019"
HONDA_E = "HONDA E 2020"
@ -142,8 +141,10 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
CAR.ODYSSEY_CHN: None, # Chinese version of Odyssey
CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
CAR.PILOT: HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.PASSPORT: HondaCarInfo("Honda Passport 2019-21", "All", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.PILOT: [
HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
HondaCarInfo("Honda Passport 2019-21", "All", min_steer_speed=12. * CV.MPH_TO_MS),
],
CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-22", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS),
@ -1067,6 +1068,8 @@ FW_VERSIONS = {
b'28101-5EZ-A060\x00\x00',
b'28101-5EZ-A100\x00\x00',
b'28101-5EZ-A210\x00\x00',
b'28101-5EZ-A600\x00\x00',
b'28101-5EZ-A430\x00\x00',
],
(Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-RLV-4060\x00\x00',
@ -1078,6 +1081,9 @@ FW_VERSIONS = {
b'37805-RLV-C520\x00\x00',
b'37805-RLV-C530\x00\x00',
b'37805-RLV-C910\x00\x00',
b'37805-RLV-B220\x00\x00',
b'37805-RLV-B210\x00\x00',
b'37805-RLV-L160\x00\x00',
],
(Ecu.gateway, 0x18daeff1, None): [
b'38897-TG7-A030\x00\x00',
@ -1110,6 +1116,7 @@ FW_VERSIONS = {
b'36161-TGS-A130\x00\x00',
b'36161-TGT-A030\x00\x00',
b'36161-TGT-A130\x00\x00',
b'36161-TGS-A030\x00\x00',
],
(Ecu.srs, 0x18da53f1, None): [
b'77959-TG7-A020\x00\x00',
@ -1147,6 +1154,9 @@ FW_VERSIONS = {
b'78109-TGS-AP20\x00\x00',
b'78109-TGT-AJ20\x00\x00',
b'78109-TGT-AK30\x00\x00',
b'78109-TGS-AT20\x00\x00',
b'78109-TGS-AX20\x00\x00',
b'78109-TGS-AJ20\x00\x00',
],
(Ecu.vsa, 0x18da28f1, None): [
b'57114-TG7-A130\x00\x00',
@ -1163,42 +1173,6 @@ FW_VERSIONS = {
b'57114-TGT-A530\x00\x00',
],
},
CAR.PASSPORT: {
(Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-RLV-B220\x00\x00',
b'37805-RLV-B210\x00\x00',
b'37805-RLV-L160\x00\x00',
],
(Ecu.eps, 0x18da30f1, None): [
b'39990-TGS-A230\x00\x00',
],
(Ecu.fwdRadar, 0x18dab0f1, None): [
b'36161-TGS-A030\x00\x00',
b'36161-TGS-A130\x00\x00',
],
(Ecu.gateway, 0x18daeff1, None): [
b'38897-TG7-A040\x00\x00',
b'38897-TG7-A030\x00\x00',
],
(Ecu.srs, 0x18da53f1, None): [
b'77959-TGS-A010\x00\x00',
],
(Ecu.shiftByWire, 0x18da0bf1, None): [
b'54008-TG7-A530\x00\x00',
],
(Ecu.transmission, 0x18da1ef1, None): [
b'28101-5EZ-A600\x00\x00',
b'28101-5EZ-A430\x00\x00',
],
(Ecu.combinationMeter, 0x18da60f1, None): [
b'78109-TGS-AT20\x00\x00',
b'78109-TGS-AX20\x00\x00',
b'78109-TGS-AJ20\x00\x00',
],
(Ecu.vsa, 0x18da28f1, None): [
b'57114-TGS-A530\x00\x00',
],
},
CAR.ACURA_RDX: {
(Ecu.vsa, 0x18da28f1, None): [
b'57114-TX5-A220\x00\x00',
@ -1499,7 +1473,6 @@ DBC = {
CAR.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
CAR.ODYSSEY_CHN: dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'),
CAR.PILOT: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
CAR.PASSPORT: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
CAR.RIDGELINE: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
CAR.INSIGHT: dbc_dict('honda_insight_ex_2019_can_generated', None),
CAR.HONDA_E: dbc_dict('acura_rdx_2020_can_generated', None),
@ -1514,7 +1487,7 @@ STEER_THRESHOLD = {
HONDA_NIDEC_ALT_PCM_ACCEL = {CAR.ODYSSEY}
HONDA_NIDEC_ALT_SCM_MESSAGES = {CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN,
CAR.PILOT, CAR.PASSPORT, CAR.RIDGELINE}
CAR.PILOT, CAR.RIDGELINE}
HONDA_BOSCH = {CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G,
CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022}
HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G}

2
selfdrive/car/tests/routes.py
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@ -72,7 +72,7 @@ routes = [
CarTestRoute("d83f36766f8012a5|2020-02-05--18-42-21", HONDA.CIVIC_BOSCH_DIESEL),
CarTestRoute("f0890d16a07a236b|2021-05-25--17-27-22", HONDA.INSIGHT),
CarTestRoute("07d37d27996096b6|2020-03-04--21-57-27", HONDA.PILOT),
CarTestRoute("684e8f96bd491a0e|2021-11-03--11-08-42", HONDA.PASSPORT),
CarTestRoute("684e8f96bd491a0e|2021-11-03--11-08-42", HONDA.PILOT), # Passport
CarTestRoute("0a78dfbacc8504ef|2020-03-04--13-29-55", HONDA.CIVIC_BOSCH),
CarTestRoute("f34a60d68d83b1e5|2020-10-06--14-35-55", HONDA.ACURA_RDX),
CarTestRoute("54fd8451b3974762|2021-04-01--14-50-10", HONDA.RIDGELINE),

2
selfdrive/car/tests/test_models.py
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@ -245,7 +245,7 @@ class TestCarModelBase(unittest.TestCase):
# TODO: remove this exception once this mismatch is resolved
brake_pressed = CS.brakePressed
if CS.brakePressed and not self.safety.get_brake_pressed_prev():
if self.CP.carFingerprint in (HONDA.PILOT, HONDA.PASSPORT, HONDA.RIDGELINE) and CS.brake > 0.05:
if self.CP.carFingerprint in (HONDA.PILOT, HONDA.RIDGELINE) and CS.brake > 0.05:
brake_pressed = False
checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()

1
selfdrive/car/torque_data/params.yaml
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@ -22,7 +22,6 @@ HONDA FIT 2018: [1.5719981427109775, 0.5712761407108976, 0.110773383324281]
HONDA HRV 2019: [2.0661212805710205, 0.7521343418694775, 0.17760375789242094]
HONDA INSIGHT 2019: [1.5201671214069354, 0.5660229120683284, 0.25808042580281876]
HONDA ODYSSEY 2018: [1.8774809275211801, 0.8394431662987996, 0.2096978613792822]
HONDA PASSPORT 2021: [1.5305538930036766, 0.7956063674638759, 0.19599407381531284]
HONDA PILOT 2017: [1.7262026201812795, 0.9470005614967523, 0.21351430733218763]
HONDA RIDGELINE 2017: [1.4146525028237624, 0.7356572861629564, 0.23307177552211328]
HYUNDAI ELANTRA 2021: [3.169, 2.1259108157250735, 0.0819]

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