sadmen
/
openpilot_comma
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Honda: merge Passport platform into Pilot (#27061)

Browse Source 
* Move Passport FW versions to Pilot

* lol, all duplicates already in pilot

* No Passport

* Better params for both
pull/27066/head
Shane Smiskol 2 years ago committed by GitHub
parent e49c7fa2bf
commit b2c6d5d34a
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
6 changed files with 21 additions and 49 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  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
Unescape View File

@ -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
Unescape View File

@ -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
Unescape View File

@ -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
Unescape View File

@ -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
Unescape View File

@ -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
Unescape View File

@ -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]

Write Preview
Loading…
Cancel
Save