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Updated Mazda (markdown)

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Jafar Al-Gharaibeh 2021-12-22 15:04:33 -06:00
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Mazda.md

@ -6,9 +6,8 @@
**Changing source code, using weighted lockout mitigation or changing EPS is all done at your own risk.**
The Mazda community is strong, and most late model Mazda models are community supported with limitations. For models with limitations, OpenPilot is only available in dashcam mode due to a steering lockout that occurs when driver does not touch the steering wheel for more than 5 seconds. Using Stock OpenPilot with Mazda models that have limitations requires source code changes, and always keeping your hands on the wheel or use of a weighted steering lockout mitigation or changing Electronic Power Steering motor (EPS) to 2021 CX-9 where compatible. Failure to overcome the steering lockout results in the car not responding to steer commands from OpenPilot.
The Mazda community is strong, and most Mazda models are community supported with limitations. Out of the box, only CX-9 2021 is officially supported. For all other models OpenPilot is only available in dashcam mode due to a steering lockout that occurs when driver does not touch the steering wheel for more than 5 seconds. Using Stock OpenPilot with Mazda models that have limitations requires source code changes, and always keeping your hands on the wheel or use of a weighted steering lockout mitigation or changing Electronic Power Steering motor (EPS) to 2021 CX-9 where compatible. Failure to overcome the steering lockout results in the car not responding to steer commands from OpenPilot.
**Changing source code, using weighted lockout mitigation or changing EPS is all done at your own risk.**
To change source code from dashcam only mode, change the line in `selfdrive/car/mazda/interface.py` [[here]](https://github.com/commaai/openpilot/blob/master/selfdrive/car/mazda/interface.py#L24)
from:
@ -20,6 +19,7 @@ to
ret.dashcamOnly = False
```
If you don't want to make source code change, you can use Mazda community fork, see the link at the bottom of this page.
# Make-Specific Terms
@ -36,7 +36,7 @@ Lane-Keep Assist System | LAS | Mazda LKAS
Official Community Supported Models
* 2021 CX-9
Community Supported Models with Limitations
Community Supported Models with Limitation
* 2017-2020 CX-9
* 2017-2021 Mazda 6, and CX-5
* * 2016-2017 models may require a different connector than the Comma connector
@ -53,7 +53,7 @@ Community Supported Models with Limitations
Mazda LKAS is not available on low speeds. In particular, LKAS is not available until the car drives above 32mph/52kph. LKAS gets disabled when the speed goes below 28mpg/45kph. OP will NOT allow initial engagement if LKAS is not available. If OP is already engaged and LKAS becomes unavailable, OP will continue to be engaged but will not steer and will display a warning about steering being unavailable.
### Torque
Available steering torque is adequate for most highway driving conditions. City driving requires driver intervention on sharp turns.
CX-9 2019-2021 offer the best torque among Mazda cars. They offer twice the torque compared to other Mazda cars allowing them to make tighter turns even on city streets. For other cars the available steering torque is adequate for most highway driving conditions. City driving requires driver intervention on sharp turns.
### Minimum Speeds
@ -65,7 +65,6 @@ Available steering torque is adequate for most highway driving conditions. City
Longitudinal control is not supported by OP with Mazda. OP relies on the stock MRCC to control speed. MRCC support follow-to-stop to 0mph and automatic resume if the stop is less than three seconds. OP improve on that by allowing the car to resume without driver intervention after longer delays. Even though MRCC works down to 0mph, the lowest allowed set speed is 19mph.
Note that OP takes control of the engagement process and will not allow the MRCC to engage if LKAS is not available, i.e, when used with OP you will not be able to engage ACC on low speeds. That behavior is required by OP safety model.
# Custom solutions:
Note: Mazda harness is now available at comma shop. Look for "Mazda Development" when you select a vehicle.
@ -89,9 +88,7 @@ Harness wiring:
# Developer TODOs
* Steer down to zero
* Steer without lockout
* Find cruise set speed signal
* openpilot longitudinal control
* Fingerprinting 2.0 ([reference](https://github.com/commaai/openpilot/pull/1540)). (support is coming in OP 0.8.5)
# See Also