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Honda: int flag for modified EPS configs #275

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Honda: int flag for modified EPS configs #275

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f680c48
Create values_ext.py file with new flag to support eps_modified
THERoen Aug 24, 2025
eb16a05
Remove eps_modified variable in favor of HondaFlagsFP-based approach
THERoen Aug 24, 2025
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5 changes: 5 additions & 0 deletions frogpilot/car/honda/values_ext.py
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Original file line number Diff line number Diff line change
@@ -0,0 +1,5 @@
from enum import IntFlag


class HondaFlagsFP(IntFlag):
EPS_MODIFIED = 128
14 changes: 7 additions & 7 deletions selfdrive/car/honda/interface.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@
from openpilot.selfdrive.car.honda.hondacan import CanBus
from openpilot.selfdrive.car.honda.values import CarControllerParams, CruiseButtons, CruiseSettings, HondaFlags, CAR, HONDA_BOSCH, \
HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS
from openpilot.frogpilot.car.honda.values_ext import HondaFlagsFP
from openpilot.selfdrive.car import create_button_events, get_safety_config
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
from openpilot.selfdrive.car.disable_ecu import disable_ecu
Expand Down Expand Up @@ -90,13 +91,12 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs, fr
ret.longitudinalTuning.kiBP = [0., 5., 35.]
ret.longitudinalTuning.kiV = [1.2, 0.8, 0.5]

eps_modified = False
for fw in car_fw:
if fw.ecu == "eps" and b"," in fw.fwVersion:
eps_modified = True
ret.flags |= HondaFlagsFP.EPS_MODIFIED.value

if candidate == CAR.HONDA_CIVIC:
if eps_modified:
if ret.flags & HondaFlagsFP.EPS_MODIFIED:
# stock request input values: 0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE
# stock request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x1680, 0x1680
# modified request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x2880, 0x3180
Expand All @@ -110,7 +110,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs, fr
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]

elif candidate in (CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CIVIC_2022):
if eps_modified:
if ret.flags & HondaFlagsFP.EPS_MODIFIED:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2564, 8000], [0, 2564, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]] # 2.5x Modded EPS
else:
Expand All @@ -120,7 +120,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs, fr
elif candidate == CAR.HONDA_ACCORD:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end

if eps_modified:
if ret.flags & HondaFlagsFP.EPS_MODIFIED:
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]
else:
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
Expand All @@ -135,7 +135,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs, fr
ret.wheelSpeedFactor = 1.025

elif candidate == CAR.HONDA_CRV_5G:
if eps_modified:
if ret.flags & HondaFlagsFP.EPS_MODIFIED:
# stock request input values: 0x0000, 0x00DB, 0x01BB, 0x0296, 0x0377, 0x0454, 0x0532, 0x0610, 0x067F
# stock request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400
# modified request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x1ACD, 0x239A, 0x2800
Expand Down Expand Up @@ -200,7 +200,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs, fr

elif candidate == CAR.HONDA_CLARITY:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_CLARITY
if eps_modified:
if ret.flags & HondaFlagsFP.EPS_MODIFIED:
for fw in car_fw:
if fw.ecu == "eps" and b"-" not in fw.fwVersion and b"," in fw.fwVersion:
ret.lateralTuning.pid.kf = 0.00004
Expand Down