brand/honda/nidec-stock-long

2026-02-20: init

common/params_keys.h

@@ -162,4 +162,5 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"dp_dev_tethering", {PERSISTENT, BOOL, "0"}},
     {"dp_ui_mici", {PERSISTENT, BOOL, "0"}},
     {"dp_lat_offset_cm", {PERSISTENT, INT, "0"}},
+    {"dp_honda_nidec_stock_long", {PERSISTENT, BOOL, "0"}},
 };

dragonpilot/settings.py

@@ -4,6 +4,19 @@ except:
   from openpilot.system.ui.lib.multilang import tr
 
 SETTINGS = [
+  {
+    "title": "Honda / Acura",
+    "condition": "brand == 'honda'",
+    "settings": [
+      {
+        "key": "dp_honda_nidec_stock_long",
+        "type": "toggle_item",
+        "title": lambda: tr("Nidec: Use Stock Longitudinal Control"),
+        "description": lambda: tr("Use Honda's factory ACC for gas/brake control instead of openpilot. openpilot will only control steering. Requires reboot to take effect."),
+        "brands": ["honda"],
+      },
+    ],
+  },
   {
     "title": "Toyota / Lexus",
     "condition": "brand == 'toyota'",

opendbc_repo/opendbc/car/honda/interface.py

@@ -54,6 +54,9 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hondaNidec)]
       ret.openpilotLongitudinalControl = True
 
+      if dp_params & structs.DPFlags.HondaNidecStockLong:
+        ret.openpilotLongitudinalControl = False
+
       ret.pcmCruise = True
 
     if candidate == CAR.HONDA_CRV_5G:
@@ -208,6 +211,8 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.RADARLESS.value
     if candidate in HONDA_BOSCH_CANFD:
       ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.BOSCH_CANFD.value
+    if not ret.openpilotLongitudinalControl and candidate not in HONDA_BOSCH:
+      ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.NIDEC_STOCK_LONG.value
 
     # min speed to enable ACC. if car can do stop and go, then set enabling speed
     # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not

opendbc_repo/opendbc/car/honda/values.py

@@ -56,6 +56,7 @@ class HondaSafetyFlags(IntFlag):
   NIDEC_ALT = 4
   RADARLESS = 8
   BOSCH_CANFD = 16
+  NIDEC_STOCK_LONG = 32
 
 
 class HondaFlags(IntFlag):

opendbc_repo/opendbc/car/structs.py

@@ -22,4 +22,5 @@ CarParamsT = capnp.lib.capnp._StructModule
 class DPFlags:
   LatALKA = 1
   ExtRadar = 2
+  HondaNidecStockLong = 2 ** 2
   pass

opendbc_repo/opendbc/safety/modes/honda.h

@@ -32,6 +32,7 @@ static bool honda_fwd_brake = false;
 static bool honda_bosch_long = false;
 static bool honda_bosch_radarless = false;
 static bool honda_bosch_canfd = false;
+static bool honda_nidec_stock_long = false;
 typedef enum {HONDA_NIDEC, HONDA_BOSCH} HondaHw;
 static HondaHw honda_hw = HONDA_NIDEC;
 
@@ -279,6 +280,10 @@ static bool honda_tx_hook(const CANPacket_t *msg) {
 static safety_config honda_nidec_init(uint16_t param) {
   alka_allowed = true;  // dp - ALKA enabled for Honda Nidec
 
+  // Steering-only (stock long)
+  static CanMsg HONDA_N_STOCK_LONG_TX_MSGS[] = {{0xE4, 0, 5, .check_relay = true}, {0x194, 0, 4, .check_relay = true},
+                                                 {0x33D, 0, 5, .check_relay = true}};
+
   // 0x1FA is dynamically forwarded based on stock AEB
   // 0xE4 is steering on all cars except CRV and RDX, 0x194 for CRV and RDX,
   // 0x1FA is brake control, 0x30C is acc hud, 0x33D is lkas hud
@@ -286,6 +291,7 @@ static safety_config honda_nidec_init(uint16_t param) {
                                      {0x30C, 0, 8, .check_relay = true}, {0x33D, 0, 5, .check_relay = true}};
 
   const uint16_t HONDA_PARAM_NIDEC_ALT = 4;
+  const uint16_t HONDA_PARAM_NIDEC_STOCK_LONG = 32;
 
   honda_hw = HONDA_NIDEC;
   honda_brake = 0;
@@ -295,6 +301,7 @@ static safety_config honda_nidec_init(uint16_t param) {
   honda_bosch_long = false;
   honda_bosch_radarless = false;
   honda_bosch_canfd = false;
+  honda_nidec_stock_long = GET_FLAG(param, HONDA_PARAM_NIDEC_STOCK_LONG);
 
   safety_config ret;
 
@@ -318,7 +325,11 @@ static safety_config honda_nidec_init(uint16_t param) {
     SET_RX_CHECKS(honda_nidec_common_rx_checks, ret);
   }
 
-  SET_TX_MSGS(HONDA_N_TX_MSGS, ret);
+  if (honda_nidec_stock_long) {
+    SET_TX_MSGS(HONDA_N_STOCK_LONG_TX_MSGS, ret);
+  } else {
+    SET_TX_MSGS(HONDA_N_TX_MSGS, ret);
+  }
 
   return ret;
 }
@@ -418,7 +429,7 @@ static bool honda_nidec_fwd_hook(int bus_num, int addr) {
   if (bus_num == 2) {
     // forwarded if stock AEB is active
     bool is_brake_msg = addr == 0x1FA;
-    block_msg = is_brake_msg && !honda_fwd_brake;
+    block_msg = is_brake_msg && !honda_fwd_brake && !honda_nidec_stock_long;
   }
 
   return block_msg;

opendbc_repo/opendbc/safety/tests/test_honda.py

@@ -338,6 +338,47 @@ class TestHondaNidecPcmSafety(HondaPcmEnableBase, TestHondaNidecSafetyBase):
     pass
 
 
+class TestHondaNidecStockLongSafety(HondaPcmEnableBase, TestHondaNidecSafetyBase):
+  """
+    Covers Honda Nidec with stock longitudinal control
+  """
+  TX_MSGS = [[0xE4, 0], [0x194, 0], [0x33D, 0]]
+  FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0x194, 0x33D]}
+  RELAY_MALFUNCTION_ADDRS = {0: (0xE4, 0x194, 0x33D)}
+
+  def setUp(self):
+    self.packer = CANPackerSafety("honda_civic_touring_2016_can_generated")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.hondaNidec, HondaSafetyFlags.NIDEC_STOCK_LONG)
+    self.safety.init_tests()
+
+  # Nidec doesn't disengage on falling edge of cruise
+  def test_disable_control_allowed_from_cruise(self):
+    pass
+
+  # No-op longitudinal tests (stock handles it)
+  def test_brake_safety_check(self):
+    pass
+
+  def test_acc_hud_safety_check(self):
+    pass
+
+  def test_fwd_hook(self):
+    pass
+
+  def test_honda_fwd_brake_latching(self):
+    pass
+
+  def _send_brake_msg(self, brake, aeb_req=0, bus=0):
+    pass
+
+  def _rx_brake_msg(self, brake, aeb_req=0):
+    pass
+
+  def _send_acc_hud_msg(self, pcm_gas, pcm_speed):
+    pass
+
+
 class TestHondaNidecPcmAltSafety(TestHondaNidecPcmSafety):
   """
     Covers the Honda Nidec safety mode with alt SCM messages

selfdrive/car/card.py

@@ -105,6 +105,9 @@ class Car:
       if self.params.get_bool("dp_lat_alka"):
         dp_params |= structs.DPFlags.LatALKA
 
+      if self.params.get_bool("dp_honda_nidec_stock_long"):
+        dp_params |= structs.DPFlags.HondaNidecStockLong
+
       dp_fingerprint = str(self.params.get("dp_dev_model_selected") or "")
       self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, dp_params, cached_params, dp_fingerprint=dp_fingerprint)
       self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP)