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disable stock honda AEB in unsafe mode (#477) 

* disable stock honda AEB in unsafe mode

for some Honda models when OP is engaged, stock AEB will activate in unexpected circumstances, such as when there are 2 lane highways when driving on a curve with opposing traffic.  When this occurs the car may brake unexpectedly (Honda Civic) or loss of gas pedal function may occur for a few seconds (Honda Pilot)

* Update safety_honda.h
master
kegman 2020-03-31 19:26:26 -04:00 committed by GitHub
parent 01b2ccbeda
commit 98503e8660
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 15 additions and 11 deletions
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26
board/safety/safety_honda.h
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@ -138,18 +138,22 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
gas_pressed_prev = gas_pressed;
}
}
if ((bus == 2) && (addr == 0x1FA)) {
bool honda_stock_aeb = GET_BYTE(to_push, 3) & 0x20;
int honda_stock_brake = (GET_BYTE(to_push, 0) << 2) + ((GET_BYTE(to_push, 1) >> 6) & 0x3);
// disable stock Honda AEB in unsafe mode
if ( !(unsafe_mode & UNSAFE_DISABLE_STOCK_AEB) ) {
if ((bus == 2) && (addr == 0x1FA)) {
bool honda_stock_aeb = GET_BYTE(to_push, 3) & 0x20;
int honda_stock_brake = (GET_BYTE(to_push, 0) << 2) + ((GET_BYTE(to_push, 1) >> 6) & 0x3);
// Forward AEB when stock braking is higher than openpilot braking
// only stop forwarding when AEB event is over
if (!honda_stock_aeb) {
honda_fwd_brake = false;
} else if (honda_stock_brake >= honda_brake) {
honda_fwd_brake = true;
} else {
// Leave Honda forward brake as is
// Forward AEB when stock braking is higher than openpilot braking
// only stop forwarding when AEB event is over
if (!honda_stock_aeb) {
honda_fwd_brake = false;
} else if (honda_stock_brake >= honda_brake) {
honda_fwd_brake = true;
} else {
// Leave Honda forward brake as is
}
}
}