Add 2019 Honda Insight (#1166)
* add 2019 Honda Insight + fw fp * add actual fp and add to ignored, but still required for ECU detection * add Insight dirty route for now * update README.md, was wrong mph for each * update test_car_models * remove dbc extensionpull/1169/head
theantihero
GitHub
parent
c24144ecea
commit
c8c4708f21
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@ -83,6 +83,7 @@ Supported Cars
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| Honda | Pilot 2016-18 | Honda Sensing | openpilot | 25mph<sup>6</sup> | 12mph |
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| Honda | Pilot 2019 | All | openpilot | 25mph<sup>6</sup> | 12mph |
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| Honda | Ridgeline 2017-19 | Honda Sensing | openpilot | 25mph<sup>6</sup> | 12mph |
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| Honda | Insight 2019 | Honda Sensing | Stock | 0mph | 3mph |
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| Hyundai | Elantra 2017-19<sup>1</sup> | SCC + LKAS | Stock | 19mph | 34mph |
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| Hyundai | Genesis 2018<sup>1</sup> | All | Stock | 19mph | 34mph |
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| Hyundai | Santa Fe 2019<sup>1</sup> | All | Stock | 0mph | 0mph |
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@ -81,7 +81,7 @@ def get_can_signals(CP):
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if CP.radarOffCan:
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# Civic is only bosch to use the same brake message as other hondas.
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if CP.carFingerprint not in (CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID):
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if CP.carFingerprint not in (CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT):
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signals += [("BRAKE_PRESSED", "BRAKE_MODULE", 0)]
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checks += [("BRAKE_MODULE", 50)]
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signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
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@ -103,7 +103,7 @@ def get_can_signals(CP):
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else:
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checks += [("CRUISE_PARAMS", 50)]
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if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID):
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if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT):
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signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
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elif CP.carFingerprint == CAR.ODYSSEY_CHN:
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signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS", 1)]
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@ -176,7 +176,7 @@ class CarState(CarStateBase):
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self.prev_cruise_setting = self.cruise_setting
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# ******************* parse out can *******************
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if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID): # TODO: find wheels moving bit in dbc
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if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT): # TODO: find wheels moving bit in dbc
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ret.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1
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ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]['DRIVERS_DOOR_OPEN'])
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elif self.CP.carFingerprint == CAR.ODYSSEY_CHN:
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@ -223,7 +223,7 @@ class CarState(CarStateBase):
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ret.rightBlinker = cp.vl["SCM_FEEDBACK"]['RIGHT_BLINKER'] != 0
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self.brake_hold = cp.vl["VSA_STATUS"]['BRAKE_HOLD_ACTIVE']
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if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID):
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if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT):
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self.park_brake = cp.vl["EPB_STATUS"]['EPB_STATE'] != 0
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main_on = cp.vl["SCM_FEEDBACK"]['MAIN_ON']
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elif self.CP.carFingerprint == CAR.ODYSSEY_CHN:
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@ -262,7 +262,7 @@ class CarState(CarStateBase):
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self.cruise_mode = cp.vl["ACC_HUD"]['CRUISE_CONTROL_LABEL']
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ret.cruiseState.standstill = cp.vl["ACC_HUD"]['CRUISE_SPEED'] == 252.
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ret.cruiseState.speedOffset = calc_cruise_offset(0, ret.vEgo)
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if self.CP.carFingerprint in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.ACCORDH, CAR.CRV_HYBRID):
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if self.CP.carFingerprint in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.ACCORDH, CAR.CRV_HYBRID, CAR.INSIGHT):
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ret.brakePressed = cp.vl["POWERTRAIN_DATA"]['BRAKE_PRESSED'] != 0 or \
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(self.brake_switch and self.brake_switch_prev and \
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cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH'] != self.brake_switch_ts)
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@ -353,6 +353,21 @@ class CarInterface(CarInterfaceBase):
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ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
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ret.longitudinalTuning.kiBP = [0., 35.]
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ret.longitudinalTuning.kiV = [0.18, 0.12]
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elif candidate == CAR.INSIGHT:
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stop_and_go = True
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ret.mass = 2987. * CV.LB_TO_KG + STD_CARGO_KG
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ret.wheelbase = 2.7
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ret.centerToFront = ret.wheelbase * 0.39
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ret.steerRatio = 15.0 # 12.58 is spec end-to-end
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
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tire_stiffness_factor = 0.82
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
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ret.longitudinalTuning.kpBP = [0., 5., 35.]
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ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
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ret.longitudinalTuning.kiBP = [0., 35.]
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ret.longitudinalTuning.kiV = [0.18, 0.12]
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else:
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raise ValueError("unsupported car %s" % candidate)
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@ -39,6 +39,7 @@ class CAR:
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PILOT = "HONDA PILOT 2017 TOURING"
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PILOT_2019 = "HONDA PILOT 2019 ELITE"
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RIDGELINE = "HONDA RIDGELINE 2017 BLACK EDITION"
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INSIGHT = "HONDA INSIGHT 2019 TOURING"
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# diag message that in some Nidec cars only appear with 1s freq if VIN query is performed
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DIAG_MSGS = {1600: 5, 1601: 8}
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@ -121,9 +122,16 @@ FINGERPRINTS = {
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# 2019 Ridgeline
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{
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57: 3, 145: 8, 228: 5, 229: 4, 308: 5, 316: 8, 339: 7, 342: 6, 344: 8, 380: 8, 392: 6, 399: 7, 419: 8, 420: 8, 422:8, 425: 8, 426: 8, 427: 3, 432: 7, 464: 8, 476: 4, 490: 8, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 795: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 871: 8, 882: 2, 884: 7, 892: 8, 923: 2, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1088: 8, 1089: 8, 1092: 1, 1108: 8, 1125: 8, 1296: 8, 1365: 5, 424: 5, 1613: 5, 1616: 5, 1618: 5, 1623: 5, 1668: 5
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}],
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# 2019 Insight
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CAR.INSIGHT: [{
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57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 387: 8, 388: 8, 399: 7, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 450: 8, 464: 8, 476: 8, 477: 8, 479: 8, 490: 8, 495: 8, 507: 1, 525: 8, 531: 8, 545: 6, 547: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 804: 8, 806: 8, 808: 8, 814: 4, 815: 8, 829: 5, 832: 3, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 954: 2, 985: 3, 1029: 8, 1093: 4, 1115: 2, 1302: 8, 1361: 5, 1365: 5, 1600: 5, 1601: 8, 1652: 8, 2015: 3
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}]
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}
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# Don't use theses fingerprints for fingerprinting, they are still needed for ECU detection
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IGNORED_FINGERPRINTS = [CAR.INSIGHT]
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# add DIAG_MSGS to fingerprints
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for c in FINGERPRINTS:
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for f, _ in enumerate(FINGERPRINTS[c]):
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@ -631,6 +639,20 @@ FW_VERSIONS = {
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b'57114-T6Z-A130\x00\x00',
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],
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},
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CAR.INSIGHT: {
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(Ecu.eps, 0x18da30f1, None): [
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b'39990-TXM-A040\x00\x00',
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],
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(Ecu.fwdRadar, 0x18dab0f1, None): [
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b'36802-TXM-A070\x00\x00',
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],
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(Ecu.fwdCamera, 0x18dab5f1, None): [
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b'36161-TXM-A050\x00\x00',
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],
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(Ecu.srs, 0x18da53f1, None): [
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b'77959-TXM-A230\x00\x00',
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],
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},
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}
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DBC = {
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@ -651,6 +673,7 @@ DBC = {
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CAR.PILOT: dbc_dict('honda_pilot_touring_2017_can_generated', 'acura_ilx_2016_nidec'),
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CAR.PILOT_2019: dbc_dict('honda_pilot_touring_2017_can_generated', 'acura_ilx_2016_nidec'),
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CAR.RIDGELINE: dbc_dict('honda_ridgeline_black_edition_2017_can_generated', 'acura_ilx_2016_nidec'),
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CAR.INSIGHT: dbc_dict('honda_insight_ex_2019_can_generated', None),
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}
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STEER_THRESHOLD = {
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@ -671,6 +694,7 @@ STEER_THRESHOLD = {
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CAR.PILOT: 1200,
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CAR.PILOT_2019: 1200,
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CAR.RIDGELINE: 1200,
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CAR.INSIGHT: 1200,
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}
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SPEED_FACTOR = {
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@ -691,6 +715,7 @@ SPEED_FACTOR = {
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CAR.PILOT: 1.,
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CAR.PILOT_2019: 1.,
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CAR.RIDGELINE: 1.,
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CAR.INSIGHT: 1.,
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}
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# msgs sent for steering controller by camera module on can 0.
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@ -699,4 +724,4 @@ ECU_FINGERPRINT = {
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Ecu.fwdCamera: [0xE4, 0x194], # steer torque cmd
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}
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HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, CAR.CRV_HYBRID]
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HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, CAR.CRV_HYBRID, CAR.INSIGHT]
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@ -201,10 +201,11 @@ routes = {
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'enableCamera': True,
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'fingerprintSource': 'fixed',
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},
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#"18971a99f3f2b385|2018-11-14--19-09-31": {
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# 'carFingerprint': HONDA.INSIGHT,
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# 'enableCamera': True,
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#},
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"fb51d190ddfd8a90|2020-02-25--14-43-43": {
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'carFingerprint': HONDA.INSIGHT,
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'enableCamera': True,
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'fingerprintSource': 'fixed',
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},
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"38bfd238edecbcd7|2018-08-22--09-45-44": {
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'carFingerprint': HYUNDAI.SANTA_FE,
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'enableCamera': False,
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