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Honda Pilot 2017 Port (#161) #191

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Honda Pilot 2017 Port (#161) #191

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32e5d6c
Honda Pilot 2017 Port (#161)
vanillagorillaa Feb 9, 2018
8343b56
Dibs on SAFETY_GM numerical value
vntarasov Feb 26, 2018
bbc67f8
Merge pull request #202 from vntarasov/volt-gm-id
geohot Feb 28, 2018
3acfa1b
Safety Reference for Honda Bosch
energee Feb 28, 2018
26d97d3
Merge pull request #203 from energee/safety-honda-bosch
geohot Mar 8, 2018
569db3c
Update fingerprints.py (#210)
arne182 Mar 9, 2018
93f55f3
Interpolate ki/kp for steering PID loop (#200)
vntarasov Mar 15, 2018
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5 changes: 3 additions & 2 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,9 @@ Supported Cars

- Acura RDX 2018 with AcuraWatch Plus (alpha!)
- Can only be enabled above 25 mph

- Honda Pilot 2017 with Honda Sensing (alpha!)
- Can only be enabled above 27 mph

- Toyota RAV-4 2016+ non-hybrid with TSS-P
- By default it uses stock Toyota ACC for longitudinal control
Expand Down Expand Up @@ -72,8 +75,6 @@ Community WIP Cars

- [Classic Tesla Model S (pre-AP)](https://github.com/commaai/openpilot/pull/145)

- [Honda Pilot 2017 with Honda Sensing](https://github.com/commaai/openpilot/pull/161)

Directory structure
------

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4 changes: 4 additions & 0 deletions common/fingerprints.py
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Expand Up @@ -4,6 +4,7 @@ class HONDA:
CRV = "HONDA CR-V 2016 TOURING"
ODYSSEY = "HONDA ODYSSEY 2018 EX-L"
ACURA_RDX = "ACURA RDX 2018 ACURAWATCH PLUS"
PILOT = "HONDA PILOT 2017 TOURING"


class TOYOTA:
Expand Down Expand Up @@ -36,6 +37,9 @@ class TOYOTA:
HONDA.ODYSSEY: {
57L: 3, 148L: 8, 228L: 5, 229L: 4, 316L: 8, 342L: 6, 344L: 8, 380L: 8, 399L: 7, 411L: 5, 419L: 8, 420L: 8, 427L: 3, 432L: 7, 450L: 8, 463L: 8, 464L: 8, 476L: 4, 490L: 8, 506L: 8, 542L: 7, 545L: 6, 597L: 8, 662L: 4, 773L: 7, 777L: 8, 780L: 8, 795L: 8, 800L: 8, 804L: 8, 806L: 8, 808L: 8, 817L: 4, 819L: 7, 821L: 5, 825L: 4, 829L: 5, 837L: 5, 856L: 7, 862L: 8, 871L: 8, 881L: 8, 882L: 4, 884L: 8, 891L: 8, 892L: 8, 905L: 8, 923L: 2, 927L: 8, 929L: 8, 963L: 8, 965L: 8, 966L: 8, 967L: 8, 983L: 8, 985L: 3, 1029L: 8, 1036L: 8, 1052L: 8, 1064L: 7, 1088L: 8, 1089L: 8, 1092L: 1, 1108L: 8, 1110L: 8, 1125L: 8, 1296L: 8, 1302L: 8, 1600L: 5, 1601L: 8, 1612L: 5, 1613L: 5, 1614L: 5, 1615L: 8, 1616L: 5, 1619L: 5, 1623L: 5, 1668L: 5
},
HONDA.PILOT: {
1600L: 5, 1027L: 5, 1668L: 5, 1029L: 8, 1601L: 8, 777L: 8, 891L: 8, 1036L: 8, 399L: 7, 1424L: 5, 145L: 8, 660L: 8, 985L: 3, 1616L: 5, 538L: 3, 795L: 8, 542L: 7, 773L: 7, 800L: 8, 545L: 5, 546L: 3, 419L: 8, 420L: 8, 422L: 8, 1064L: 7, 425L: 8, 426L: 8, 427L: 3, 432L: 7, 819L: 7, 308L: 5, 821L: 5, 57L: 3, 965L: 8, 316L: 8, 829L: 5, 1088L: 8, 1089L: 8, 963L: 8, 837L: 5, 966L: 8, 929L: 8, 780L: 8, 923L: 2, 1613L: 5, 334L: 8, 463L: 8, 464L: 8, 1618L: 5, 1108L: 8, 597L: 8, 342L: 6, 983L: 8, 856L: 7, 804L: 8, 1612L: 5, 476L: 4, 1125L: 8, 344L: 8, 1296L: 8, 379L: 8, 228L: 5, 229L: 4, 871L: 8, 892L: 8, 490L: 8, 808L: 8, 882L: 2, 884L: 7, 967L: 8, 506L: 8, 507L: 1, 380L: 8,
},
TOYOTA.RAV4: {
36L: 8, 37L: 8, 170L: 8, 180L: 8, 186L: 4, 426L: 6, 452L: 8, 464L: 8, 466L: 8, 467L: 8, 547L: 8, 548L: 8, 552L: 4, 562L: 4, 608L: 8, 610L: 5, 643L: 7, 705L: 8, 725L: 2, 740L: 5, 800L: 8, 835L: 8, 836L: 8, 849L: 4, 869L: 7, 870L: 7, 871L: 2, 896L: 8, 897L: 8, 900L: 6, 902L: 6, 905L: 8, 911L: 8, 916L: 3, 918L: 7, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 951L: 8, 955L: 4, 956L: 8, 979L: 2, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1005L: 2, 1008L: 2, 1014L: 8, 1017L: 8, 1041L: 8, 1042L: 8, 1043L: 8, 1044L: 8, 1056L: 8, 1059L: 1, 1114L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1176L: 8, 1177L: 8, 1178L: 8, 1179L: 8, 1180L: 8, 1181L: 8, 1190L: 8, 1191L: 8, 1192L: 8, 1196L: 8, 1227L: 8, 1228L: 8, 1235L: 8, 1237L: 8, 1263L: 8, 1264L: 8, 1279L: 8, 1408L: 8, 1409L: 8, 1410L: 8, 1552L: 8, 1553L: 8, 1554L: 8, 1555L: 8, 1556L: 8, 1557L: 8, 1561L: 8, 1562L: 8, 1568L: 8, 1569L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1584L: 8, 1589L: 8, 1592L: 8, 1593L: 8, 1595L: 8, 1596L: 8, 1597L: 8, 1600L: 8, 1656L: 8, 1664L: 8, 1728L: 8, 1745L: 8, 1779L: 8, 1904L: 8, 1912L: 8, 1990L: 8, 1998L: 8
},
Expand Down
4 changes: 3 additions & 1 deletion selfdrive/car/__init__.py
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Expand Up @@ -26,7 +26,9 @@
HONDA.ACURA_ILX: HondaInterface,
HONDA.CRV: HondaInterface,
HONDA.ODYSSEY: HondaInterface,
HONDA.ACURA_RDX: HondaInterface,
HONDA.ACURA_RDX: HondaInterface,
HONDA.PILOT: HondaInterface,


TOYOTA.PRIUS: ToyotaInterface,
TOYOTA.RAV4: ToyotaInterface,
Expand Down
2 changes: 1 addition & 1 deletion selfdrive/car/honda/carcontroller.py
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Expand Up @@ -116,7 +116,7 @@ def update(self, sendcan, enabled, CS, frame, actuators, \
# *** compute control surfaces ***
GAS_MAX = 1004
BRAKE_MAX = 1024/4
if CS.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY):
if CS.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.PILOT):
is_fw_modified = os.getenv("DONGLE_ID") in ['99c94dc769b5d96e']
STEER_MAX = 0x1FFF if is_fw_modified else 0x1000
elif CS.CP.carFingerprint in (CAR.CRV, CAR.ACURA_RDX):
Expand Down
19 changes: 17 additions & 2 deletions selfdrive/car/honda/carstate.py
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Expand Up @@ -21,6 +21,7 @@ def parse_gear_shifter(can_gear_shifter, car_fingerprint):
return "drive"
elif can_gear_shifter == 0xa:
return "sport"

elif car_fingerprint in (CAR.CIVIC, CAR.CRV, CAR.ACURA_RDX):
if can_gear_shifter == 0x4:
return "neutral"
Expand All @@ -30,6 +31,16 @@ def parse_gear_shifter(can_gear_shifter, car_fingerprint):
return "sport"
elif can_gear_shifter == 0x20:
return "low"

elif car_fingerprint in (CAR.PILOT):
if can_gear_shifter == 0x8:
return "reverse"
elif can_gear_shifter == 0x4:
return "park"
elif can_gear_shifter == 0x20:
return "drive"
elif can_gear_shifter == 0x2:
return "sport"
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Here is a bug. This function will never return "sport" because at line 14 you are assuming that for all Hondas 0x02 is "reverse"

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Good catch. Will fix this in internal repo and it will be in next release. Currently, this bug doesn't result in unexpected behaviors as both S and R don't allow OP engagement.

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Can you guys add support to "sport" mode 🙏? Stock ACC work on sport mode.
I have this line patched to return "drive" so OP can drive in sport mode.

Or maybe just do what I'm doing and return "drive" instead of "sport" for all other cars. If you'd like I can open a PR for this.

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@mcampa , the rational behind not allowing OP in Sport mode is that it might require a re-tuning, since the car controls might respond differently. Not sure if that's even true actually...


return "unknown"

Expand Down Expand Up @@ -122,6 +133,10 @@ def get_can_signals(CP):
("EPB_STATE", "EPB_STATUS", 0),
("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0)]
checks += [("EPB_STATUS", 50)]
elif CP.carFingerprint == CAR.PILOT:
dbc_f = 'honda_pilot_touring_2017_can_generated.dbc'
signals += [("MAIN_ON", "SCM_BUTTONS", 0),
("CAR_GAS", "GAS_PEDAL_2", 0)]

# add gas interceptor reading if we are using it
if CP.enableGas:
Expand Down Expand Up @@ -184,9 +199,9 @@ def update(self, cp):
cp.vl["DOORS_STATUS"]['DOOR_OPEN_RL'], cp.vl["DOORS_STATUS"]['DOOR_OPEN_RR']])
self.seatbelt = not cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_LAMP'] and cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_LATCHED']

# 2 = temporary 4 = temporary, hit a bump 5 (permanent) 6 = temporary 7 (permanent)
# 2 = temporary 3= TBD 4 = temporary, hit a bump 5 (permanent) 6 = temporary 7 (permanent)
# TODO: Use values from DBC to parse this field
self.steer_error = cp.vl["STEER_STATUS"]['STEER_STATUS'] not in [0, 2, 4, 6]
self.steer_error = cp.vl["STEER_STATUS"]['STEER_STATUS'] not in [0, 2, 3, 4, 6]
self.steer_not_allowed = cp.vl["STEER_STATUS"]['STEER_STATUS'] != 0
self.brake_error = cp.vl["STANDSTILL"]['BRAKE_ERROR_1'] or cp.vl["STANDSTILL"]['BRAKE_ERROR_2']
self.esp_disabled = cp.vl["VSA_STATUS"]['ESP_DISABLED']
Expand Down
3 changes: 3 additions & 0 deletions selfdrive/car/honda/hondacan.py
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Expand Up @@ -104,6 +104,9 @@ def create_radar_commands(v_ego, car_fingerprint, idx):
elif car_fingerprint == CAR.ACURA_ILX:
msg_0x301 = "\x0f\x18\x51\x02\x5a\x00\x00"
commands.append(make_can_msg(0x300, msg_0x300, idx, 1))
elif car_fingerprint == CAR.PILOT:
msg_0x301 = "\x00\x00\x56\x02\x58\x00\x00"
commands.append(make_can_msg(0x300, msg_0x300, idx, 1))

commands.append(make_can_msg(0x301, msg_0x301, idx, 1))
return commands
12 changes: 12 additions & 0 deletions selfdrive/car/honda/interface.py
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Expand Up @@ -211,6 +211,18 @@ def get_params(candidate, fingerprint):
ret.steerRatio = 14.35
ret.steerKp, ret.steerKi = 0.6, 0.18

ret.longitudinalKpBP = [0., 5., 35.]
ret.longitudinalKpV = [1.2, 0.8, 0.5]
ret.longitudinalKiBP = [0., 35.]
ret.longitudinalKiV = [0.18, 0.12]
elif candidate == CAR.PILOT:
stop_and_go = False
ret.mass = 4303./2.205 + std_cargo
ret.wheelbase = 2.81
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 16.0
ret.steerKp, ret.steerKi = 0.38, 0.11

ret.longitudinalKpBP = [0., 5., 35.]
ret.longitudinalKpV = [1.2, 0.8, 0.5]
ret.longitudinalKiBP = [0., 35.]
Expand Down