Honda: Car Port Acura Integra #1722
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This reverts commit c49a2b2.
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The under-2kmh speed issue is annoying. I see how you're trying to solve it, and while I'm not in love with your solution, I looked in Cabana myself for a bit and I'm not sure I see a better one.
I'm curious how stock deals with it. What's the control envelope for the factory camera-based ACC? Will it slow to a stop, and if so, will it resume? Does openpilot longitudinal control work?
| // 0x158 used for all suported Hondas except Integra (use 0x309 car_speed message) | ||
| if ((addr == 0x158) || (addr == 0x309)){ |
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The 0x309 case and its corresponding RxCheck aren't exercised in tests. I'm not sure we can depend on it anyway, so it may be irrelevant.
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will leave for the moment. Maybe we can find another message for speed
| if self.CP.carFingerprint == CAR.ACURA_INTEGRA: | ||
| ret.standstill = cp.vl["CAR_SPEED"]["CAR_SPEED"] < 1e-5 |
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I'm definitely not in love with this message, it's almost certainly intended for instrument cluster display. Low frequency, high arb ID, and has a considerable response lag.
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I can take another look to see what we have, or can use
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In a pinch, there's a message that has ABS wheel speed sensor impulse integral, and that doesn't have the 2 kmh cutoff. We'd have to calibrate it against the main reference speed, but there's precedent and support for briefly suppressing engagement for steering angle sensor calibration and the like.
The reason I asked about stock ACC is that I'd be surprised if it does FtS/SnG if its own reference source has the 2kmh cutoff.
Checklist
added entry to CarInfo in selfdrive/car/*/values.py and ran selfdrive/car/docs.py to generate new docsDone by bot now?Requires
Honda: Acura Integra safety panda#2152Moved into this PR