Merge pull request #277 from commaai/devel

openpilot 0.4.7.2
commaai · Jun 28, 2018 · 27c7425 · 27c7425
2 parents 30b72e4 + 95509a5
commit 27c7425
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diff --git a/README.md b/README.md
@@ -88,15 +88,9 @@ Supported Cars
 
 ### GM (Chevrolet + Cadillac) ###
 
-- Chevrolet Volt Premier 2017+
-  - Driver Confidence II package (adaptive cruise control) required
-  - Can only be enabled above 18 mph
+- Chevrolet Volt Premier 2017+ with Driver Confidence II package
   - Read the [installation guide](https://www.zoneos.com/volt.htm)
 
-- Cadillac CT6
-  - Uses stock ACC for longitudinal control
-  - Requires multiple panda for proxying the ASCMs
-
 In Progress Cars
 ------
 - All TSS-P Toyota with Steering Assist.

diff --git a/RELEASES.md b/RELEASES.md
@@ -1,3 +1,9 @@
+Version 0.4.7.2 (2018-06-25)
+==========================
+ * Fix loggerd lag issue
+ * No longer prompt for updates
+ * Mitigate right lane hugging for properly mounted EON (procedure on wiki)
+
 Version 0.4.7.1 (2018-06-18)
 ==========================
  * Fix Acura ILX steer faults

diff --git a/cereal/car.capnp b/cereal/car.capnp
@@ -170,6 +170,7 @@ struct RadarState {
   enum Error {
     commIssue @0;
     fault @1;
+    wrongConfig @2;
   }
 
   # similar to LiveTracks
@@ -332,7 +333,7 @@ struct CarParams {
   directAccelControl @31 :Bool; # Does the car have direct accel control or just gas/brake
   stoppingControl @34 :Bool; # Does the car allows full control even at lows speeds when stopping
   startAccel @35 :Float32; # Required acceleraton to overcome creep braking
-  steerRateCost @40 :Float32; # Lateral MPC cost on steering rate
+  steerRateCostDEPRECATED @40 :Float32; # Lateral MPC cost on steering rate
   steerControlType @46 :SteerControlType;
   radarOffCan @47 :Bool; # True when radar objects aren't visible on CAN
 

diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh
@@ -5,14 +5,11 @@ if [ -z "$PASSIVE" ]; then
 fi
 
 function launch {
-  DO_UPDATE=$(cat /data/params/d/ShouldDoUpdate)
   # apply update
-  if [ "$DO_UPDATE" == "1" ] && [ "$(git rev-parse HEAD)" != "$(git rev-parse @{u})" ]; then
+  if [ "$(git rev-parse HEAD)" != "$(git rev-parse @{u})" ]; then
      git reset --hard @{u} &&
      git clean -xdf &&
      exec "${BASH_SOURCE[0]}"
-     echo -n 0 > /data/params/d/ShouldDoUpdate
-     echo -n 0 > /data/params/d/IsUpdateAvailable
   fi
 
   # no cpu rationing for now

diff --git a/opendbc/acura_ilx_2016_can_generated.dbc b/opendbc/acura_ilx_2016_can_generated.dbc
@@ -99,13 +99,13 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
 BO_ 506 BRAKE_COMMAND: 8 ADAS
  SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
  SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
- SG_ COMPUTER_BRAKE_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
+ SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
- SG_ COMPUTER_BRAKE_REQUEST_2 : 16|1@0+ (1,0) [0|1] "" EBCM
+ SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
  SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
  SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM

diff --git a/opendbc/acura_rdx_2018_can_generated.dbc b/opendbc/acura_rdx_2018_can_generated.dbc
@@ -99,13 +99,13 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
 BO_ 506 BRAKE_COMMAND: 8 ADAS
  SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
  SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
- SG_ COMPUTER_BRAKE_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
+ SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
- SG_ COMPUTER_BRAKE_REQUEST_2 : 16|1@0+ (1,0) [0|1] "" EBCM
+ SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
  SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
  SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM

diff --git a/opendbc/generator/honda/_honda_2017.dbc b/opendbc/generator/honda/_honda_2017.dbc
@@ -77,13 +77,13 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
 BO_ 506 BRAKE_COMMAND: 8 ADAS
  SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
  SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
- SG_ COMPUTER_BRAKE_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
+ SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
- SG_ COMPUTER_BRAKE_REQUEST_2 : 16|1@0+ (1,0) [0|1] "" EBCM
+ SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
  SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
  SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM

diff --git a/opendbc/honda_civic_touring_2016_can_generated.dbc b/opendbc/honda_civic_touring_2016_can_generated.dbc
@@ -99,13 +99,13 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
 BO_ 506 BRAKE_COMMAND: 8 ADAS
  SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
  SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
- SG_ COMPUTER_BRAKE_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
+ SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
- SG_ COMPUTER_BRAKE_REQUEST_2 : 16|1@0+ (1,0) [0|1] "" EBCM
+ SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
  SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
  SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM

diff --git a/opendbc/honda_crv_touring_2016_can_generated.dbc b/opendbc/honda_crv_touring_2016_can_generated.dbc
@@ -99,13 +99,13 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
 BO_ 506 BRAKE_COMMAND: 8 ADAS
  SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
  SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
- SG_ COMPUTER_BRAKE_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
+ SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
- SG_ COMPUTER_BRAKE_REQUEST_2 : 16|1@0+ (1,0) [0|1] "" EBCM
+ SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
  SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
  SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM

diff --git a/opendbc/honda_odyssey_exl_2018_generated.dbc b/opendbc/honda_odyssey_exl_2018_generated.dbc
@@ -99,13 +99,13 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
 BO_ 506 BRAKE_COMMAND: 8 ADAS
  SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
  SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
- SG_ COMPUTER_BRAKE_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
+ SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
- SG_ COMPUTER_BRAKE_REQUEST_2 : 16|1@0+ (1,0) [0|1] "" EBCM
+ SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
  SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
  SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM

diff --git a/opendbc/honda_pilot_touring_2017_can_generated.dbc b/opendbc/honda_pilot_touring_2017_can_generated.dbc
@@ -99,13 +99,13 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
 BO_ 506 BRAKE_COMMAND: 8 ADAS
  SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
  SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
- SG_ COMPUTER_BRAKE_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
+ SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
- SG_ COMPUTER_BRAKE_REQUEST_2 : 16|1@0+ (1,0) [0|1] "" EBCM
+ SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
  SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
  SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM

diff --git a/opendbc/honda_ridgeline_black_edition_2017_can_generated.dbc b/opendbc/honda_ridgeline_black_edition_2017_can_generated.dbc
@@ -99,13 +99,13 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
 BO_ 506 BRAKE_COMMAND: 8 ADAS
  SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
  SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
- SG_ COMPUTER_BRAKE_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
+ SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
- SG_ COMPUTER_BRAKE_REQUEST_2 : 16|1@0+ (1,0) [0|1] "" EBCM
+ SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
  SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
  SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
  SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM

diff --git a/panda/board/safety.h b/panda/board/safety.h
@@ -12,7 +12,7 @@ int safety_ignition_hook();
 uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last);
 int to_signed(int d, int bits);
 void update_sample(struct sample_t *sample, int sample_new);
-int max_limit_check(int val, const int MAX);
+int max_limit_check(int val, const int MAX, const int MIN);
 int dist_to_meas_check(int val, int val_last, struct sample_t *val_meas,
   const int MAX_RATE_UP, const int MAX_RATE_DOWN, const int MAX_ERROR);
 int driver_limit_check(int val, int val_last, struct sample_t *val_driver,
@@ -149,17 +149,17 @@ void update_sample(struct sample_t *sample, int sample_new) {
   }
 }
 
-int max_limit_check(int val, const int MAX) {
-  return (val > MAX) | (val < -MAX);
+int max_limit_check(int val, const int MAX, const int MIN) {
+  return (val > MAX) || (val < MIN);
 }
 
 // check that commanded value isn't too far from measured
 int dist_to_meas_check(int val, int val_last, struct sample_t *val_meas,
   const int MAX_RATE_UP, const int MAX_RATE_DOWN, const int MAX_ERROR) {
 
   // *** val rate limit check ***
-  int16_t highest_allowed_val = max(val_last, 0) + MAX_RATE_UP;
-  int16_t lowest_allowed_val = min(val_last, 0) - MAX_RATE_UP;
+  int highest_allowed_val = max(val_last, 0) + MAX_RATE_UP;
+  int lowest_allowed_val = min(val_last, 0) - MAX_RATE_UP;
 
   // if we've exceeded the meas val, we must start moving toward 0
   highest_allowed_val = min(highest_allowed_val, max(val_last - MAX_RATE_DOWN, max(val_meas->max, 0) + MAX_ERROR));
@@ -195,8 +195,8 @@ int driver_limit_check(int val, int val_last, struct sample_t *val_driver,
 int rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA) {
 
   // *** torque real time rate limit check ***
-  int16_t highest_val = max(val_last, 0) + MAX_RT_DELTA;
-  int16_t lowest_val = min(val_last, 0) - MAX_RT_DELTA;
+  int highest_val = max(val_last, 0) + MAX_RT_DELTA;
+  int lowest_val = min(val_last, 0) - MAX_RT_DELTA;
 
   // check for violation
   return (val < lowest_val) || (val > highest_val);

diff --git a/panda/board/safety/safety_cadillac.h b/panda/board/safety/safety_cadillac.h
@@ -70,7 +70,7 @@ static int cadillac_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
     if (controls_allowed) {
 
       // *** global torque limit check ***
-      violation |= max_limit_check(desired_torque, CADILLAC_MAX_STEER);
+      violation |= max_limit_check(desired_torque, CADILLAC_MAX_STEER, -CADILLAC_MAX_STEER);
 
       // *** torque rate limit check ***
       int desired_torque_last = cadillac_desired_torque_last[idx];

diff --git a/panda/board/safety/safety_gm.h b/panda/board/safety/safety_gm.h
@@ -163,7 +163,7 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
     if (current_controls_allowed) {
 
       // *** global torque limit check ***
-      violation |= max_limit_check(desired_torque, GM_MAX_STEER);
+      violation |= max_limit_check(desired_torque, GM_MAX_STEER, -GM_MAX_STEER);
 
       // *** torque rate limit check ***
       violation |= driver_limit_check(desired_torque, gm_desired_torque_last, &gm_torque_driver,

diff --git a/panda/board/safety/safety_toyota.h b/panda/board/safety/safety_toyota.h
@@ -71,9 +71,8 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
       int desired_accel = ((to_send->RDLR & 0xFF) << 8) | ((to_send->RDLR >> 8) & 0xFF);
       desired_accel = to_signed(desired_accel, 16);
       if (controls_allowed && actuation_limits) {
-        if ((desired_accel > MAX_ACCEL) || (desired_accel < MIN_ACCEL)) {
-          return 0;
-        }
+        int violation = max_limit_check(desired_accel, MAX_ACCEL, MIN_ACCEL);
+        if (violation) return 0;
       } else if (!controls_allowed && (desired_accel != 0)) {
         return 0;
       }
@@ -91,7 +90,7 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
       if (controls_allowed && actuation_limits) {
 
         // *** global torque limit check ***
-        violation |= max_limit_check(desired_torque, MAX_TORQUE);
+        violation |= max_limit_check(desired_torque, MAX_TORQUE, -MAX_TORQUE);
 
         // *** torque rate limit check ***
         violation |= dist_to_meas_check(desired_torque, desired_torque_last, &torque_meas, MAX_RATE_UP, MAX_RATE_DOWN, MAX_TORQUE_ERROR);

diff --git a/panda/python/isotp.py b/panda/python/isotp.py
@@ -44,7 +44,7 @@ def isotp_recv_subaddr(panda, addr, bus, sendaddr, subaddr):
     idx = 1
     for mm in recv(panda, (tlen-len(dat) + 5)/6, addr, bus):
       assert ord(mm[0]) == subaddr
-      assert ord(mm[1]) == (0x20 | idx)
+      assert ord(mm[1]) == (0x20 | (idx&0xF))
       dat += mm[2:]
       idx += 1
   elif ord(msg[1])&0xf0 == 0x00:
@@ -117,7 +117,7 @@ def isotp_recv(panda, addr, bus=0, sendaddr=None, subaddr=None):
 
       idx = 1
       for mm in recv(panda, (tlen-len(dat) + 6)/7, addr, bus):
-        assert ord(mm[0]) == (0x20 | idx)
+        assert ord(mm[0]) == (0x20 | (idx&0xF))
         dat += mm[1:]
         idx += 1
     elif ord(msg[0])&0xf0 == 0x00:

diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
@@ -75,7 +75,6 @@ def get_params(candidate, fingerprint):
     ret.steerKpV, ret.steerKiV = [[0.01], [0.005]]     # TODO: tune this
     ret.steerKf = 1. / MAX_ANGLE   # MAX Steer angle to normalize FF
     ret.steerActuatorDelay = 0.1  # Default delay, not measured yet
-    ret.steerRateCost = 0.5
 
     f = 1.2
     tireStiffnessFront_civic *= f

diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
@@ -151,7 +151,6 @@ def get_params(candidate, fingerprint):
     ret.startAccel = 0.8
 
     ret.steerActuatorDelay = 0.1  # Default delay, not measured yet
-    ret.steerRateCost = 0.5
     ret.steerControlType = car.CarParams.SteerControlType.torque
 
     return ret

diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
@@ -1,4 +1,3 @@
-import os
 from collections import namedtuple
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from selfdrive.controls.lib.drive_helpers import rate_limit
@@ -123,8 +122,7 @@ def update(self, sendcan, enabled, CS, frame, actuators, \
     elif CS.CP.carFingerprint in (CAR.CRV, CAR.ACURA_RDX):
       STEER_MAX = 0x3e8  # CR-V only uses 12-bits and requires a lower value (max value from energee)
     else:
-      is_fw_modified = os.getenv("DONGLE_ID") in ['99c94dc769b5d96e']
-      STEER_MAX = 0x1FFF if is_fw_modified else 0x1000
+      STEER_MAX = 0x1000
 
     # steer torque is converted back to CAN reference (positive when steering right)
     apply_gas = clip(actuators.gas, 0., 1.)

diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py
@@ -37,11 +37,11 @@ def create_brake_command(packer, apply_brake, pcm_override, pcm_cancel_cmd, chim
 
   values = {
     "COMPUTER_BRAKE": apply_brake,
-    "COMPUTER_BRAKE_REQUEST": pump_on,
+    "BRAKE_PUMP_REQUEST": pump_on,
     "CRUISE_OVERRIDE": pcm_override,
     "CRUISE_FAULT_CMD": pcm_fault_cmd,
     "CRUISE_CANCEL_CMD": pcm_cancel_cmd,
-    "COMPUTER_BRAKE_REQUEST_2": brake_rq,
+    "COMPUTER_BRAKE_REQUEST": brake_rq,
     "SET_ME_0X80": 0x80,
     "BRAKE_LIGHTS": brakelights,
     "CHIME": chime,

diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
@@ -239,7 +239,7 @@ def get_params(candidate, fingerprint):
       ret.wheelbase = 2.66
       ret.centerToFront = ret.wheelbase * 0.41
       ret.steerRatio = 12.30
-      ret.steerKpV, ret.steerKiV = [[0.8], [0.24]]
+      ret.steerKpV, ret.steerKiV = [[0.6], [0.18]]
 
       ret.longitudinalKpBP = [0., 5., 35.]
       ret.longitudinalKpV = [1.2, 0.8, 0.5]
@@ -340,7 +340,6 @@ def get_params(candidate, fingerprint):
     ret.startAccel = 0.5
 
     ret.steerActuatorDelay = 0.09
-    ret.steerRateCost = 0.5
 
     return ret
 

diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
@@ -51,8 +51,8 @@ class CAR:
 
 FINGERPRINTS = {
   CAR.ACCORD: [{
-    148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8 
-  }], 
+    148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 387: 8, 388: 8, 399: 7, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 525: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
+  }],
   CAR.ACURA_ILX: [{
     1024L: 5, 513L: 6, 1027L: 5, 1029L: 8, 929L: 4, 1057L: 5, 777L: 8, 1034L: 5, 1036L: 8, 398L: 3, 399L: 7, 145L: 8, 660L: 8, 985L: 3, 923L: 2, 542L: 7, 773L: 7, 800L: 8, 432L: 7, 419L: 8, 420L: 8, 1030L: 5, 422L: 8, 808L: 8, 428L: 8, 304L: 8, 819L: 7, 821L: 5, 57L: 3, 316L: 8, 545L: 4, 464L: 8, 1108L: 8, 597L: 8, 342L: 6, 983L: 8, 344L: 8, 804L: 8, 1039L: 8, 476L: 4, 892L: 8, 490L: 8, 1064L: 7, 882L: 2, 884L: 7, 887L: 8, 888L: 8, 380L: 8, 1365L: 5,
     # sent messages

diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
@@ -78,7 +78,6 @@ def get_params(candidate, fingerprint):
       ret.mass = 3045 * CV.LB_TO_KG + std_cargo
       ret.steerKpV, ret.steerKiV = [[0.4], [0.01]]
       ret.steerKf = 0.00006   # full torque for 10 deg at 80mph means 0.00007818594
-      ret.steerRateCost = 1.5
 
       f = 1.43353663
       tireStiffnessFront_civic *= f
@@ -93,23 +92,20 @@ def get_params(candidate, fingerprint):
       ret.mass = 3650 * CV.LB_TO_KG + std_cargo  # mean between normal and hybrid
       ret.steerKpV, ret.steerKiV = [[0.6], [0.05]]
       ret.steerKf = 0.00006   # full torque for 10 deg at 80mph means 0.00007818594
-      ret.steerRateCost = 1.
     elif candidate == CAR.COROLLA:
       ret.safetyParam = 100 # see conversion factor for STEER_TORQUE_EPS in dbc file
       ret.wheelbase = 2.70
       ret.steerRatio = 17.8
       ret.mass = 2860 * CV.LB_TO_KG + std_cargo  # mean between normal and hybrid
       ret.steerKpV, ret.steerKiV = [[0.2], [0.05]]
       ret.steerKf = 0.00003   # full torque for 20 deg at 80mph means 0.00007818594
-      ret.steerRateCost = 1.
     elif candidate == CAR.LEXUS_RXH:
       ret.safetyParam = 100 # see conversion factor for STEER_TORQUE_EPS in dbc file
       ret.wheelbase = 2.79
       ret.steerRatio = 16.  # official specs say 14.8, but it does not seem right
       ret.mass = 4481 * CV.LB_TO_KG + std_cargo  # mean between min and max
       ret.steerKpV, ret.steerKiV = [[0.6], [0.1]]
       ret.steerKf = 0.00006   # full torque for 10 deg at 80mph means 0.00007818594
-      ret.steerRateCost = .8
 
     ret.centerToFront = ret.wheelbase * 0.44
 

diff --git a/selfdrive/common/version.h b/selfdrive/common/version.h
@@ -1 +1 @@
-#define COMMA_VERSION "0.4.7.1-release"
+#define COMMA_VERSION "0.4.7.2-release"
Original file line number	Diff line number	Diff line change
		@@ -1 +1 @@
		#define COMMA_VERSION "0.4.7.1-release"
		#define COMMA_VERSION "0.4.7.2-release"