Honda: Fit 2024 - 2025 (Taiwan)

[mvl-boston]

Support for Honda Fit 2024-25 (Taiwan)

• Factory max LKAS is 3840 - 0b3cfa082cbbe54e/00000003--069cc09c00
• Car is impacted by Honda: Haptic warning when engaged at low speeds #1147. Successfully tested fix in Honda - cutoff LKAS below minSteerSpeed #3114.

There is also haptic feedback (maybe from brake) at under 5km/h with alphalongitudinal on, which is a speed not supported by factory ACC. This appears to be the same as the upstreamed Ridgeline and Brazil City. Since this does not impact release (alphalong=off) then deferring research to a future PR.

[github-actions]

Car behavior report

Replays driving segments through this PR and compares the behavior to master.
Please review any changes carefully to ensure they are expected.

Testing 154 segments for: HONDA_ACCORD, HONDA_CIVIC_BOSCH, HONDA_CIVIC_2022, HONDA_CRV_5G, HONDA_CRV_HYBRID, HONDA_HRV_3G, HONDA_INSIGHT, HONDA_E, HONDA_PILOT_4G, HONDA_CRV, HONDA_FIT, HONDA_FREED, HONDA_HRV, HONDA_ODYSSEY, HONDA_PILOT, HONDA_RIDGELINE, HONDA_CIVIC

✅ 0 changed, 154 passed, 0 errors

[jyoung8607]

@mvl-boston no rlogs uploaded for the CI test route, otherwise LGTM and will merge when there's a test route.

[cmtsij]

@mvl-boston
I got my C4 and get more fingerprints from my car.(Taiwan Fit4 e:hev 2024)
Would you like to sync fingerprint from this commit and refresh to this pull ?

And another question:

ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]

Should FIT_4G use 3840 or 4096 ? which one would be better ?
I’m very willing to do real-world testing and provide logs/routes.
Thanks.

[mvl-boston]

@mvl-boston I got my C4 and get more fingerprints from my car.(Taiwan Fit4 e:hev 2024) Would you like to sync fingerprint from this commit and refresh to this pull ?

And another question:

ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]

Should FIT_4G use 3840 or 4096 ? which one would be better ? I’m very willing to do real-world testing and provide logs/routes. Thanks.

Can you make a route public in connect.comma.ai and post the url?

Something looks wrong with your commits, usually there is only one radar FW per car. I can look with the log and update the PR.

Regarding turn max, 3840 is all factory was able to demonstrate and openpilot typically limits to that. My forks go higher and if you DM me in discord (mvl) we can work on 4096 or more for my forks.

[cmtsij]

Can you make a route public in connect.comma.ai and post the url?

https://connect.comma.ai/f0a3de7786dcc72c/0000001a--4336abf007

Something looks wrong with your commits, usually there is only one radar FW per car. I can look with the log and update the PR.

The additional "36161-TZA-J050" is from the Japanese model (6AA-GR3: Fit4 2020). Some people in Taiwan buy this camera from the Japanese second-hand market because it supports ACC from 0 km/h and LKAS from 30 km/h without OP (compared to Taiwan’s version, which supports ACC from 30 km/h and LKAS from 72 km/h).

I haven’t verified 36161-TZA-J050 myself, so you can ignore the Japanese firmware for now. Would you like me to strip that commit?

[mvl-boston]

Can you make a route public in connect.comma.ai and post the url?

https://connect.comma.ai/f0a3de7786dcc72c/0000001a--4336abf007

Something looks wrong with your commits, usually there is only one radar FW per car. I can look with the log and update the PR.

The additional "36161-TZA-J050" is from the Japanese model (6AA-GR3: Fit4 2020). Some people in Taiwan buy this camera from the Japanese second-hand market because it supports ACC from 0 km/h and LKAS from 30 km/h without OP (compared to Taiwan’s version, which supports ACC from 30 km/h and LKAS from 72 km/h).

I haven’t verified 36161-TZA-J050 myself, so you can ignore the Japanese firmware for now. Would you like me to strip that commit?

I added in just the firmware from your log, and added it to the testroute. Can you also do moreinfo -> preserve on comma connect in case it takes comma a while to review?

[cmtsij]

@sshane Would you like to review this pull request and merge it? Thanks.

[cmtsij]

@mvl-boston
Another Taiwan Fit4 e:hev 2021 car owner has different fingerprint (36161-TZK-P140) for his car.
Please help to check the route: https://connect.comma.ai/059357c42c774921/00000002--264d61bd39

and my patch for the adding fingerprint: cmtsij/openpilot@428d276

Thanks

[mvl-boston]

@mvl-boston Another Taiwan Fit4 e:hev 2021 car owner has different fingerprint (36161-TZK-P140) for his car. Please help to check the route: https://connect.comma.ai/059357c42c774921/00000002--264d61bd39

and my patch for the adding fingerprint: cmtsij/openpilot@428d276

Thanks

Added, thanks.