Acura RDX 2018 AcuraWatch Plus Port #162

vanillagorillaa · 2017-12-15T00:26:14Z

Acura RDX 2018 AcuraWatch Plus Port. Just needs to be tested

rbiasini · 2017-12-18T21:31:21Z

selfdrive/car/honda/hondacan.py

@@ -71,7 +71,7 @@ def create_accord_steering_control(apply_steer, idx):
 def create_steering_control(apply_steer, crv, idx):
  """Creates a CAN message for the Honda DBC STEERING_CONTROL."""
  commands = []
-  if crv:
+  if crv or rdx:


rdx isn't an input here

rbiasini · 2017-12-18T22:00:16Z

selfdrive/car/honda/carcontroller.py

@@ -175,6 +175,6 @@ def update(self, sendcan, enabled, CS, frame, actuators, \

    if (frame % radar_send_step) == 0:
      idx = (frame/radar_send_step) % 4
-      can_sends.extend(hondacan.create_radar_commands(CS.v_ego, CS.civic, CS.accord, CS.crv, idx))
+      can_sends.extend(hondacan.create_radar_commands(CS.v_ego, CS.civic, CS.accord, CS.crv, CS.rdx, idx))


@energee @vanillagorillaa , needs to change create_steerint_control as well

Should be set now

rbiasini · 2017-12-18T22:59:40Z

selfdrive/car/honda/carstate.py

+      self.right_blinker_on = cp.vl[0x294]['RIGHT_BLINKER']
+      self.cruise_speed_offset = -0.3
+      self.park_brake = 0  # TODO
+      self.brake_hold = 0  # RDX doesn't have EPB  

    self.gear_shifter = parse_gear_shifter(can_gear_shifter, self.acura)


so, rdx gear shifter is parsed as the civic?

RDX matches civic, 0x8-D, 0x1-P, 0x2-R, 0x4-N

vanillagorillaa · 2017-12-20T05:33:19Z

@rbiasini This should be good for alpha support if we can still get it in for 0.4.0. Still going to work on Steer_Max and will submit a PR at a later point once we find final value

vanillagorillaa · 2017-12-20T05:49:15Z

Cannot forget to give huge credit to @energee for his help and support on the port!

rbiasini · 2017-12-20T06:19:25Z

This is great work guys! Will PM @vanillagorillaa and @energee about the TODO list for the merge. It's pretty close.

energee · 2017-12-21T20:30:42Z

@rbiasini The person testing is relaying that awareness is not being reset by a steer-override or button events like cruise reset or resume. I can't see how this is possible especially since it is clearly reading the buttons because openpilot is being engaged. I am not seeing any obvious reason for this and theres not too much I can do without the ability to debug, any ideas?

rbiasini · 2017-12-21T21:23:25Z

@energee I believe that steer override might not reset awareness status because the steer torque sensor is probably wrong in the dbc. It's strange about the buttons though. Is he sure?

energee · 2017-12-21T21:33:24Z

I checked steer torque sensor, I think it is ok.

Was hoping there was something obvious i was missing. It is hard doing this without physical access!

vanillagorillaa · 2017-12-21T21:50:10Z

Another thing that is happening is every time he starts up the car is that OP is not giving him the "Warning, keep hands on the wheel" message. He says this occurs every time on start up. He is not 100% sure that changing speed is resetting timer so hes going to look tonight. Can confirm that OP disengages when Gas/Break/Cancel is applied

vanillagorillaa · 2018-02-03T21:57:32Z

Should also be added that OpenPilot cannot be engaged under 25mph

rbiasini · 2018-02-05T19:39:24Z

selfdrive/car/honda/carcontroller.py

@@ -121,7 +121,7 @@ def update(self, sendcan, enabled, CS, frame, actuators, \
    if CS.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY):
      is_fw_modified = os.getenv("DONGLE_ID") in ['b0f5a01cf604185c']
      STEER_MAX = 0x1FFF if is_fw_modified else 0x1000
-    elif CS.crv:
+    elif CS.crv or CS.acura_rdx:


this is a bug. Actually the same bug in 0.4.1 release that affected what is "not civic or odyssey". replace by:
elif CS.CP.carFingerprint in (CAR.CRV, CAR.ACURA_RDX):

rbiasini · 2018-02-05T21:51:48Z

selfdrive/car/honda/carstate.py

      self.main_on = cp.vl["SCM_BUTTONS"]['MAIN_ON']

    self.cruise_speed_offset = calc_cruise_offset(cp.vl["CRUISE_PARAMS"]['CRUISE_SPEED_OFFSET'], self.v_ego)
    self.gear_shifter = parse_gear_shifter(can_gear_shifter, self.CP.carFingerprint)

    self.pedal_gas = cp.vl["POWERTRAIN_DATA"]['PEDAL_GAS']
    # crv doesn't include cruise control
-    if self.CP.carFingerprint != CAR.CRV:
+    if self.CP.carFingerprint != CAR.CRV or CAR.ACURA_RDX:


@vanillagorillaa this should be
if CS.CP.carFingerprint not in (CAR.CRV, CAR.ACURA_RDX)

actually, I would invert the check as follow:

if CS.CP.carFingerprint in (CAR.CRV, CAR.ACURA_RDX): self.car_gas = self.pedal_gas else: self.car_gas = cp.vl["GAS_PEDAL_2"]['CAR_GAS']

rbiasini · 2018-02-05T21:52:06Z

selfdrive/car/honda/hondacan.py

 def create_steering_control(apply_steer, car_fingerprint, idx):
  """Creates a CAN message for the Honda DBC STEERING_CONTROL."""
  commands = []
-  if car_fingerprint == CAR.CRV:
+  if car_fingerprint == CAR.CRV or CAR.ACURA_RDX:


81d9871 Lexus: added first draft of RX dbc file cb352da fix toyota steering lka message length d294f64 fix gas pedal message length rav4h 2d035de acura rdx remove double defined message 500a734 fix acura rdx dbc, import was missing git-subtree-dir: opendbc git-subtree-split: 81d9871

…orillaa-rdx-port

voland696 · 2018-02-06T20:36:13Z

Acura RDX JAE connector pinout? Same like JAE column in the guide?

update release2

…i#162) * Revert entire 0.5.8 longitudinal_mpc subdir + files * Reinstate libmpc.init

…commaai#162)" This reverts commit 06d1c97.

* Fix dampening of steer sensor data (commaai#161) The smoothing I was doing on the combination of actual steering angle AND rate cause causing a conflict of noise **production** and **reduction**. The dampening should ONLY be done on the steering rate, which is the derivative component. This fix makes reactSteer and dampSteer much more useful * Revert to 0.5.9 longmpc to fix all the sad distance bar stuff (commaai#162) * Revert entire 0.5.8 longitudinal_mpc subdir + files * Reinstate libmpc.init * Retune back to 0.5.9 long * Fix for hard braking * import math library * Revert "Fix dampening of steer sensor data (commaai#161)" This reverts commit 820fb6b.

LDWS improve

* Adding Acura RDX alpha support

…isable_autosteer_need_ic_integration disable the need for Autosteer enabled to run with IC integration

* Ram HD: ignore paramsd sanity check * can we do this * this instead

vanillagorillaa added 15 commits December 14, 2017 17:48

Update interface.py

a70ce5b

Update interface.py

8602a3a

Update README.md

102f8de

Update fingerprints.py

9e2323f

Update carstate.py

ad4d9fc

Update hondacan.py

a713b6a

Update interface.py

7d35de7

Update hondacan.py

cb6eece

Update Fingerprint for RDX

5e6b563

Car_gas like Crv

816459d

Pass RDX arguments

f165cc5

RDX argument

8ab34e1

RDX steering like CRV

6a3a45c

Add RDX interface

6bef896

Update carcontroller.py

0a36bc9

rbiasini reviewed Dec 18, 2017

View reviewed changes

Update hondacan.py

9b70849

rbiasini reviewed Dec 18, 2017

View reviewed changes

added steering control for rdx

9ac9228

rbiasini reviewed Dec 18, 2017

View reviewed changes

vanillagorillaa and others added 3 commits December 18, 2017 17:22

Update carcontroller.py

6226827

Steermax was too high for can packet, starting with 0x300

c1556bd

Bump Steer_max for RDX to get alpha support

b3dca08

vanillagorillaa added 2 commits January 30, 2018 23:21

Add pedal gas and RDX steer overide threshold

d87f7f8

Update carstate.py

250bedd

Update readme with RDX

e9ee44d

rbiasini reviewed Feb 5, 2018

View reviewed changes

update carcontroler

2c0e8f5

rbiasini reviewed Feb 5, 2018

View reviewed changes

vanillagorillaa and others added 10 commits February 5, 2018 16:41

fix bug

9b7e672

fix bug

b012772

syntax

165ee0a

more syntax

898d229

Merge commit 'a2c47ce2ca855a7f794f147b270822a99c65f00f' into vanillag…

40e6ec8

…orillaa-rdx-port

RDX: enlarged fingerprint and added dbc file assignment in carstate

738d05c

Update carstate.py

c062e28

Update fingerprints.py

3bbea4f

parse gear

69828a9

rbiasini merged commit 0dc6778 into commaai:devel Feb 6, 2018

rav4kumar pushed a commit to rav4kumar/openpilot that referenced this pull request Jul 15, 2019

Merge pull request commaai#162 from arne182/release2

7085011

update release2

edukinara pushed a commit to edukinara/openpilot that referenced this pull request Jul 18, 2019

Revert to 0.5.9 longmpc to fix all the sad distance bar stuff (commaa…

80d9b92

…i#162) * Revert entire 0.5.8 longitudinal_mpc subdir + files * Reinstate libmpc.init

edukinara pushed a commit to edukinara/openpilot that referenced this pull request Jul 18, 2019

Revert "Revert to 0.5.9 longmpc to fix all the sad distance bar stuff (…

bf09571

…commaai#162)" This reverts commit 06d1c97.

Maelstrom96 pushed a commit to Maelstrom96/openpilot that referenced this pull request Dec 15, 2019

Merge pull request commaai#162 from xx979xx/HKG_6.4

ca9ee2f

LDWS improve

dragonpilot referenced this pull request in dragonpilot-community/dragonpilot Apr 7, 2020

Acura RDX 2018 AcuraWatch Plus Port (#162)

c7bf136

* Adding Acura RDX alpha support

rafcabezas added a commit to rafcabezas/openpilot that referenced this pull request Nov 8, 2020

Merge pull request commaai#162 from rafcabezas/feature/tesla_branch_d…

d15f4c6

…isable_autosteer_need_ic_integration disable the need for Autosteer enabled to run with IC integration

SebastienLubrano pushed a commit to SebastienLubrano/openpilot that referenced this pull request Aug 9, 2021

add cvt transmission type (commaai#162)

cda167d

nworb-cire pushed a commit to opgm/openpilot that referenced this pull request Aug 2, 2024

Ram HD: ignore paramsd sanity check (commaai#162)

17ad678

* Ram HD: ignore paramsd sanity check * can we do this * this instead

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Acura RDX 2018 AcuraWatch Plus Port #162

Acura RDX 2018 AcuraWatch Plus Port #162

vanillagorillaa commented Dec 15, 2017

rbiasini Dec 18, 2017

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energee commented Dec 21, 2017

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voland696 commented Feb 6, 2018

Acura RDX 2018 AcuraWatch Plus Port #162

Acura RDX 2018 AcuraWatch Plus Port #162

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