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Honda Bosch Radarless: check cruise faults (#27814)

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* add signal checks

* add radarless

* not yet

* nestless

* append instead

* bump

* match check above

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
This commit is contained in:
royjr
2023-04-14 05:56:10 -04:00
committed by GitHub
parent f222d434b8
commit 882a2adc8b
2 changed files with 8 additions and 3 deletions
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2
opendbc

Submodule opendbc updated: f50e9d78bd...933d784a0d

9
selfdrive/car/honda/carstate.py
View File

@@ -120,7 +120,10 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR"))
checks.append(("GAS_SENSOR", 50))
if CP.openpilotLongitudinalControl:
if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
signals.append(("CRUISE_FAULT", "CRUISE_FAULT_STATUS"))
checks.append(("CRUISE_FAULT_STATUS", 50))
elif CP.openpilotLongitudinalControl:
signals += [
("BRAKE_ERROR_1", "STANDSTILL"),
("BRAKE_ERROR_2", "STANDSTILL")
@@ -191,7 +194,9 @@ class CarState(CarStateBase):
# NO_TORQUE_ALERT_2 can be caused by bump or steering nudge from driver
ret.steerFaultTemporary = steer_status not in ("NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2")
if self.CP.openpilotLongitudinalControl:
if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
self.brake_error = cp.vl["CRUISE_FAULT_STATUS"]["CRUISE_FAULT"]
elif self.CP.openpilotLongitudinalControl:
self.brake_error = cp.vl["STANDSTILL"]["BRAKE_ERROR_1"] or cp.vl["STANDSTILL"]["BRAKE_ERROR_2"]
ret.espDisabled = cp.vl["VSA_STATUS"]["ESP_DISABLED"] != 0