commaai · mvl-boston · Apr 24, 2025 · Apr 29, 2025 · Apr 29, 2025 · Apr 29, 2025
diff --git a/opendbc/car/honda/carcontroller.py b/opendbc/car/honda/carcontroller.py
@@ -1,8 +1,9 @@
 import numpy as np
 from collections import namedtuple
+import math
 
 from opendbc.can.packer import CANPacker
-from opendbc.car import Bus, DT_CTRL, rate_limit, make_tester_present_msg, structs
+from opendbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, DT_CTRL, rate_limit, make_tester_present_msg, structs
 from opendbc.car.honda import hondacan
 from opendbc.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
 from opendbc.car.interfaces import CarControllerBase
@@ -115,6 +116,7 @@ def __init__(self, dbc_names, CP):
     self.gas = 0.0
     self.brake = 0.0
     self.last_torque = 0.0
+    self.pitch = 0.0
 
   def update(self, CC, CS, now_nanos):
     actuators = CC.actuators
@@ -123,6 +125,9 @@ def update(self, CC, CS, now_nanos):
     hud_v_cruise = hud_control.setSpeed / conversion if hud_control.speedVisible else 255
     pcm_cancel_cmd = CC.cruiseControl.cancel
 
+    if len(CC.orientationNED) == 3:
+      self.pitch = CC.orientationNED[1]
+
     if CC.longActive:
       accel = actuators.accel
       gas, brake = compute_gas_brake(actuators.accel, CS.out.vEgo, self.CP.carFingerprint)
@@ -163,8 +168,11 @@ def update(self, CC, CS, now_nanos):
     can_sends.append(hondacan.create_steering_control(self.packer, self.CAN, apply_torque, CC.latActive))
 
     # wind brake from air resistance decel at high speed
-    wind_brake = np.interp(CS.out.vEgo, [0.0, 2.3, 35.0], [0.001, 0.002, 0.15])
+    wind_brake_ms2 = np.interp(CS.out.vEgo, [0.0, 13.4, 22.4, 31.3, 40.2], [0.000, 0.049, 0.136, 0.267, 0.441]) # in m/s2 units
+    hill_brake = math.sin(self.pitch) * ACCELERATION_DUE_TO_GRAVITY
+
     # all of this is only relevant for HONDA NIDEC
+    wind_brake = np.interp(CS.out.vEgo, [0.0, 2.3, 35.0], [0.001, 0.002, 0.15]) # not in m/s2 units
     max_accel = np.interp(CS.out.vEgo, self.params.NIDEC_MAX_ACCEL_BP, self.params.NIDEC_MAX_ACCEL_V)
     # TODO this 1.44 is just to maintain previous behavior
     pcm_speed_BP = [-wind_brake,
@@ -207,12 +215,12 @@ def update(self, CC, CS, now_nanos):
 
         if self.CP.carFingerprint in HONDA_BOSCH:
           self.accel = float(np.clip(accel, self.params.BOSCH_ACCEL_MIN, self.params.BOSCH_ACCEL_MAX))
-          self.gas = float(np.interp(accel, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V))
+          self.gas = float(np.interp(accel + wind_brake_ms2 + hill_brake, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V))
 
           stopping = actuators.longControlState == LongCtrlState.stopping
           self.stopping_counter = self.stopping_counter + 1 if stopping else 0
           can_sends.extend(hondacan.create_acc_commands(self.packer, self.CAN, CC.enabled, CC.longActive, self.accel, self.gas,
-                                                        self.stopping_counter, self.CP.carFingerprint))
+                                                        self.stopping_counter, self.CP.carFingerprint, accel + wind_brake_ms2 + hill_brake))
         else:
           apply_brake = np.clip(self.brake_last - wind_brake, 0.0, 1.0)
           apply_brake = int(np.clip(apply_brake * self.params.NIDEC_BRAKE_MAX, 0, self.params.NIDEC_BRAKE_MAX - 1))

diff --git a/opendbc/car/honda/hondacan.py b/opendbc/car/honda/hondacan.py
@@ -74,14 +74,14 @@ def create_brake_command(packer, CAN, apply_brake, pump_on, pcm_override, pcm_ca
   return packer.make_can_msg("BRAKE_COMMAND", CAN.pt, values)
 
 
-def create_acc_commands(packer, CAN, enabled, active, accel, gas, stopping_counter, car_fingerprint):
+def create_acc_commands(packer, CAN, enabled, active, accel, gas, stopping_counter, car_fingerprint, gas_force):
   commands = []
   min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0]
 
   control_on = 5 if enabled else 0
-  gas_command = gas if active and accel > min_gas_accel else -30000
+  gas_command = gas if active and gas_force > min_gas_accel else -30000
   accel_command = accel if active else 0
-  braking = 1 if active and accel < min_gas_accel else 0
+  braking = 1 if active and gas_force < min_gas_accel else 0
   standstill = 1 if active and stopping_counter > 0 else 0
   standstill_release = 1 if active and stopping_counter == 0 else 0
 

diff --git a/opendbc/car/honda/interface.py b/opendbc/car/honda/interface.py
@@ -88,10 +88,10 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_lo
       ret.longitudinalActuatorDelay = 0.5 # s
       if candidate in HONDA_BOSCH_RADARLESS:
         ret.stopAccel = CarControllerParams.BOSCH_ACCEL_MIN  # stock uses -4.0 m/s^2 once stopped but limited by safety model
-    else:
-      # default longitudinal tuning for all hondas
-      ret.longitudinalTuning.kiBP = [0., 5., 35.]
-      ret.longitudinalTuning.kiV = [1.2, 0.8, 0.5]
+
+    # default longitudinal tuning for all hondas
+    ret.longitudinalTuning.kiBP = [0., 5., 35.]
+    ret.longitudinalTuning.kiV = [1.2, 0.8, 0.5]
 
     eps_modified = False
     for fw in car_fw: