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quick fix for NIDEC #188

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quick fix for NIDEC #188

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6b80a1e
quick fix for NIDEC
lijunhao731 Apr 9, 2023
be88769
Merge branch 'dragonpilot-community:beta2' into beta2
lijunhao731 Jul 19, 2023
1a82ff4
Update carcontroller.py
lijunhao731 Sep 26, 2023
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6 changes: 4 additions & 2 deletions selfdrive/car/honda/carcontroller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -74,6 +74,10 @@ def brake_pump_hysteresis(apply_brake, apply_brake_last, last_pump_ts, ts):
if ts - last_pump_ts < 0.2 and apply_brake > 0:
pump_on = True

# some hybrid nidecs like Odyssey hybrid and Clarity need to keep pump on during braking or they'll lose pressure
if self.CP.carFingerprint == CAR.ODYSSEY_HYBRID:
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this looks not necessary?

pump_on is always set to True for ODYSSEY_HYBRID AFTER the brake_pump_hysteresis?

pump_on = apply_brake > 0

return pump_on, last_pump_ts


Expand Down Expand Up @@ -226,8 +230,6 @@ def update(self, CC, CS, now_nanos, dragonconf):
apply_brake = clip(self.brake_last - wind_brake, 0.0, 1.0)
apply_brake = int(clip(apply_brake * self.params.NIDEC_BRAKE_MAX, 0, self.params.NIDEC_BRAKE_MAX - 1))
pump_on, self.last_pump_ts = brake_pump_hysteresis(apply_brake, self.apply_brake_last, self.last_pump_ts, ts)
if self.CP.carFingerprint == CAR.ODYSSEY_HYBRID:
pump_on = True

pcm_override = True
can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on,
Expand Down
2 changes: 1 addition & 1 deletion selfdrive/car/honda/hondacan.py
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Expand Up @@ -116,10 +116,10 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud,
'IMPERIAL_UNIT': int(not is_metric),
'HUD_LEAD': 2 if enabled and hud.lead_visible else 1 if enabled else 0,
'SET_ME_X01_2': 1,
'ACC_ON': int(enabled),
}

if CP.carFingerprint in HONDA_BOSCH:
acc_hud_values['ACC_ON'] = int(enabled)
acc_hud_values['FCM_OFF'] = 1
acc_hud_values['FCM_OFF_2'] = 1
else:
Expand Down