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Honda Bosch: fix reading ACC_CONTROL (#20748)

pull/20743/head
Adeeb Shihadeh 2021-04-28 17:20:12 -07:00 committed by GitHub
parent ee5bbcb53c
commit 3a9133fb8a
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1 changed files with 6 additions and 9 deletions
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15
selfdrive/car/honda/carstate.py
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@ -92,12 +92,15 @@ def get_can_signals(CP):
("MAIN_ON", "SCM_FEEDBACK", 0),
("CRUISE_CONTROL_LABEL", "ACC_HUD", 0),
("EPB_STATE", "EPB_STATUS", 0),
("CRUISE_SPEED", "ACC_HUD", 0)
("CRUISE_SPEED", "ACC_HUD", 0),
("ACCEL_COMMAND", "ACC_CONTROL", 0),
("AEB_STATUS", "ACC_CONTROL", 0),
]
checks += [
("ACC_HUD", 10),
("EPB_STATUS", 50),
("GAS_PEDAL_2", 100),
("ACC_CONTROL", 50),
]
if CP.openpilotLongitudinalControl:
signals += [("BRAKE_ERROR_1", "STANDSTILL", 1),
@ -341,7 +344,7 @@ class CarState(CarStateBase):
self.is_metric = not cp.vl["HUD_SETTING"]['IMPERIAL_UNIT'] if self.CP.carFingerprint in (CAR.CIVIC) else False
if self.CP.carFingerprint in HONDA_BOSCH:
ret.stockAeb = bool(cp_cam.vl["ACC_CONTROL"]["AEB_STATUS"] and cp_cam.vl["ACC_CONTROL"]["ACCEL_COMMAND"] < -1e-5)
ret.stockAeb = bool(cp.vl["ACC_CONTROL"]["AEB_STATUS"] and cp.vl["ACC_CONTROL"]["ACCEL_COMMAND"] < -1e-5)
else:
ret.stockAeb = bool(cp_cam.vl["BRAKE_COMMAND"]["AEB_REQ_1"] and cp_cam.vl["BRAKE_COMMAND"]["COMPUTER_BRAKE"] > 1e-5)
@ -376,13 +379,7 @@ class CarState(CarStateBase):
if CP.carFingerprint in [CAR.CRV, CAR.CRV_EU, CAR.ACURA_RDX, CAR.ODYSSEY_CHN]:
checks = [(0x194, 100)]
if CP.carFingerprint in HONDA_BOSCH:
signals += [("ACCEL_COMMAND", "ACC_CONTROL", 0),
("AEB_STATUS", "ACC_CONTROL", 0)]
checks += [
("ACC_CONTROL", 0), # TODO: fix freq, this seems to be on the wrong bus
]
else:
if CP.carFingerprint not in HONDA_BOSCH:
signals += [("COMPUTER_BRAKE", "BRAKE_COMMAND", 0),
("AEB_REQ_1", "BRAKE_COMMAND", 0),
("FCW", "BRAKE_COMMAND", 0),