Honda Bosch: runtime alphalong toggle and deferred radar disable - #716
Draft
mvl-boston wants to merge 5 commits into
Draft
mvl-boston wants to merge 5 commits into
mvl-boston wants to merge 5 commits into
Conversation
Read AlphaLongitudinalEnabled each frame so radar silencing, tester present, and radar look-alike replacement messages start and stop when alpha long is toggled in Developer settings without restarting the drive. Defer radar UDS disable for all Bosch radar platforms (not only CAN FD) until stock ACC_CONTROL goes silent, matching the CAN FD handoff that avoids CRUISE_FAULT from comm-loss lag. Re-enable the radar when alpha long is turned off. Enable BOSCH_LONG safety whenever alpha long is available so panda allows replacement TX after an in-drive toggle. Co-authored-by: mliza <mliza@umass.edu>
|
Thanks for contributing to opendbc! In order for us to review your PR as quickly as possible, check the following:
|
Use STEERING_CONTROL PT-bus visibility to detect comma relay open for all Bosch radar alphalong cars, not only CAN FD, before sending radar disable UDS. Co-authored-by: mliza <mliza@umass.edu>
Stop LANE_PATH, HUD_OBJECTS, LKAS_HUD_2, and camera SCM takeover when AlphaLongitudinalEnabled is off; pass live alphalong into create_lkas_hud. Co-authored-by: mliza <mliza@umass.edu>
AlphaLongitudinalEnabled defaults to false in CI when the param was never written, which made op-long cars behave like stock ACC while panda safety still expected BOSCH_LONG TX. Use CarParams.openpilotLongitudinalControl when the param is absent; restore BOSCH_LONG gating to match. Co-authored-by: mliza <mliza@umass.edu>
Co-authored-by: mliza <mliza@umass.edu>
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Summary
Enables Developer → Alpha Longitudinal to be toggled during a drive on Bosch Honda/Acura (CAN FD, classic radar, and radarless) without restarting. Longitudinal control, radar silencing, tester-present, look-alike replacement traffic, and radarless dash lane/lead authoring follow the live
AlphaLongitudinalEnabledparam when it is set.Deferred radar disable (relay open +
stock_acc_alivehandoff) applies to all Bosch radar alphalong cars, including non-CAN FD. Turning alpha long off sends CommunicationControl enable so the stock radar can resume; replacement messages stop.Radarless: lane path, HUD objects, LKAS_HUD_2, and camera SCM takeover are gated on
op_long.CI / test_models fix
test_modelsfailed becauseParams.get_bool("AlphaLongitudinalEnabled")is false when the param was never written, while routeCarParams.openpilotLongitudinalControlis still true for op-long logs — carcontroller acted like stock ACC while panda expectedBOSCH_LONGTX.opendbc/car/honda/alphalong.py: use the param when present, otherwise fall back toCarParams.openpilotLongitudinalControl(replay / CI).BOSCH_LONGsafety flag to matchopenpilotLongitudinalControlat fingerprint time (in-drive toggle still requires openpilot to cycle / refresh CP for safety, as upstream does viaOnroadCycleRequested).Testing
PYTHONPATH=. python3 opendbc/safety/tests/test_honda.py— OKOpenpilot pairing
Requires
AlphaLongitudinalEnabledin Developer settings on device.