Honda Pilot 2017 Port (#161)

README.md

@@ -34,6 +34,9 @@ Supported Cars
 
 - Acura RDX 2018 with AcuraWatch Plus (alpha!)
   - Can only be enabled above 25 mph
+
+- Honda Pilot 2017 with Honda Sensing (alpha!)
+  - Can only be enabled above 27 mph 
 
 - Toyota RAV-4 2016+ non-hybrid with TSS-P
   - By default it uses stock Toyota ACC for longitudinal control
@@ -72,8 +75,6 @@ Community WIP Cars
 
 - [Classic Tesla Model S (pre-AP)](https://github.com/commaai/openpilot/pull/145)
 
-- [Honda Pilot 2017 with Honda Sensing](https://github.com/commaai/openpilot/pull/161)
-
 Directory structure
 ------
 

cereal/car.capnp

@@ -286,6 +286,8 @@ struct CarParams {
     honda @1;
     toyota @2;
     elm327 @3;
+    gm @4;
+    hondaBosch @5;
   }
 
   # things about the car in the manual
@@ -301,8 +303,12 @@ struct CarParams {
   tireStiffnessRear @14 :Float32;    # [N/rad] rear tire coeff of stiff
 
   # Kp and Ki for the lateral control
-  steerKp @15 :Float32;
-  steerKi @16 :Float32;
+  steerKpBP @42 :List(Float32);
+  steerKpV @43 :List(Float32);
+  steerKiBP @44 :List(Float32);
+  steerKiV @45 :List(Float32);
+  steerKpDEPRECATED @15 :Float32;
+  steerKiDEPRECATED @16 :Float32;
   steerKf @25 :Float32;
 
   # Kp and Ki for the longitudinal control

common/fingerprints.py

@@ -4,6 +4,7 @@ class HONDA:
   CRV = "HONDA CR-V 2016 TOURING"
   ODYSSEY = "HONDA ODYSSEY 2018 EX-L"
   ACURA_RDX = "ACURA RDX 2018 ACURAWATCH PLUS"
+  PILOT = "HONDA PILOT 2017 TOURING"
 
 
 class TOYOTA:
@@ -36,11 +37,14 @@ class TOYOTA:
   HONDA.ODYSSEY: {
     57L: 3, 148L: 8, 228L: 5, 229L: 4, 316L: 8, 342L: 6, 344L: 8, 380L: 8, 399L: 7, 411L: 5, 419L: 8, 420L: 8, 427L: 3, 432L: 7, 450L: 8, 463L: 8, 464L: 8, 476L: 4, 490L: 8, 506L: 8, 542L: 7, 545L: 6, 597L: 8, 662L: 4, 773L: 7, 777L: 8, 780L: 8, 795L: 8, 800L: 8, 804L: 8, 806L: 8, 808L: 8, 817L: 4, 819L: 7, 821L: 5, 825L: 4, 829L: 5, 837L: 5, 856L: 7, 862L: 8, 871L: 8, 881L: 8, 882L: 4, 884L: 8, 891L: 8, 892L: 8, 905L: 8, 923L: 2, 927L: 8, 929L: 8, 963L: 8, 965L: 8, 966L: 8, 967L: 8, 983L: 8, 985L: 3, 1029L: 8, 1036L: 8, 1052L: 8, 1064L: 7, 1088L: 8, 1089L: 8, 1092L: 1, 1108L: 8, 1110L: 8, 1125L: 8, 1296L: 8, 1302L: 8, 1600L: 5, 1601L: 8, 1612L: 5, 1613L: 5, 1614L: 5, 1615L: 8, 1616L: 5, 1619L: 5, 1623L: 5, 1668L: 5
   },
+  HONDA.PILOT: {
+    1600L: 5, 1027L: 5, 1668L: 5, 1029L: 8, 1601L: 8, 777L: 8, 891L: 8, 1036L: 8, 399L: 7, 1424L: 5, 145L: 8, 660L: 8, 985L: 3, 1616L: 5, 538L: 3, 795L: 8, 542L: 7, 773L: 7, 800L: 8, 545L: 5, 546L: 3, 419L: 8, 420L: 8, 422L: 8, 1064L: 7, 425L: 8, 426L: 8, 427L: 3, 432L: 7, 819L: 7, 308L: 5, 821L: 5, 57L: 3, 965L: 8, 316L: 8, 829L: 5, 1088L: 8, 1089L: 8, 963L: 8, 837L: 5, 966L: 8, 929L: 8, 780L: 8, 923L: 2, 1613L: 5, 334L: 8, 463L: 8, 464L: 8, 1618L: 5, 1108L: 8, 597L: 8, 342L: 6, 983L: 8, 856L: 7, 804L: 8, 1612L: 5, 476L: 4, 1125L: 8, 344L: 8, 1296L: 8, 379L: 8, 228L: 5, 229L: 4, 871L: 8, 892L: 8, 490L: 8, 808L: 8, 882L: 2, 884L: 7, 967L: 8, 506L: 8, 507L: 1, 380L: 8,
+  },
   TOYOTA.RAV4: {
     36L: 8, 37L: 8, 170L: 8, 180L: 8, 186L: 4, 426L: 6, 452L: 8, 464L: 8, 466L: 8, 467L: 8, 547L: 8, 548L: 8, 552L: 4, 562L: 4, 608L: 8, 610L: 5, 643L: 7, 705L: 8, 725L: 2, 740L: 5, 800L: 8, 835L: 8, 836L: 8, 849L: 4, 869L: 7, 870L: 7, 871L: 2, 896L: 8, 897L: 8, 900L: 6, 902L: 6, 905L: 8, 911L: 8, 916L: 3, 918L: 7, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 951L: 8, 955L: 4, 956L: 8, 979L: 2, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1005L: 2, 1008L: 2, 1014L: 8, 1017L: 8, 1041L: 8, 1042L: 8, 1043L: 8, 1044L: 8, 1056L: 8, 1059L: 1, 1114L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1176L: 8, 1177L: 8, 1178L: 8, 1179L: 8, 1180L: 8, 1181L: 8, 1190L: 8, 1191L: 8, 1192L: 8, 1196L: 8, 1227L: 8, 1228L: 8, 1235L: 8, 1237L: 8, 1263L: 8, 1264L: 8, 1279L: 8, 1408L: 8, 1409L: 8, 1410L: 8, 1552L: 8, 1553L: 8, 1554L: 8, 1555L: 8, 1556L: 8, 1557L: 8, 1561L: 8, 1562L: 8, 1568L: 8, 1569L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1584L: 8, 1589L: 8, 1592L: 8, 1593L: 8, 1595L: 8, 1596L: 8, 1597L: 8, 1600L: 8, 1656L: 8, 1664L: 8, 1728L: 8, 1745L: 8, 1779L: 8, 1904L: 8, 1912L: 8, 1990L: 8, 1998L: 8
   },
   TOYOTA.RAV4H: {
-   36L: 8, 37L: 8, 170L: 8, 180L: 8, 186L: 4, 426L: 6, 452L: 8, 464L: 8, 466L: 8, 467L: 8, 547L: 8, 548L: 8, 552L: 4, 562L: 4, 608L: 8, 610L: 5, 643L: 7, 705L: 8, 725L: 2, 740L: 5, 800L: 8, 835L: 8, 836L: 8, 849L: 4, 869L: 7, 870L: 7, 871L: 2, 896L: 8, 897L: 8, 900L: 6, 902L: 6, 905L: 8, 911L: 8, 916L: 3, 918L: 7, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 951L: 8, 955L: 8, 956L: 8, 979L: 2, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1008L: 2, 1014L: 8, 1017L: 8, 1041L: 8, 1042L: 8, 1043L: 8, 1044L: 8, 1056L: 8, 1059L: 1, 1114L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1176L: 8, 1177L: 8, 1178L: 8, 1179L: 8, 1180L: 8, 1181L: 8, 1190L: 8, 1191L: 8, 1192L: 8, 1196L: 8, 1227L: 8, 1228L: 8, 1235L: 8, 1237L: 8, 1263L: 8, 1279L: 8, 1408L: 8, 1409L: 8, 1410L: 8, 1552L: 8, 1553L: 8, 1554L: 8, 1555L: 8, 1556L: 8, 1557L: 8, 1561L: 8, 1562L: 8, 1568L: 8, 1569L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1584L: 8, 1589L: 8, 1592L: 8, 1593L: 8, 1595L: 8, 1596L: 8, 1597L: 8, 1600L: 8, 1656L: 8, 1664L: 8, 1728L: 8, 1745L: 8, 1779L: 8, 1904L: 8, 1912L: 8, 1990L: 8, 1998L: 8, 581L: 5, 296: 8, 560L: 7, 713L: 8, 550L: 8, 608L: 8, 37L: 8, 36L: 8, 950L: 8, 1198L: 8, 1197L: 8, 1199L: 8, 1212L: 8, 953L: 3, 1264L: 8, 1184L: 8, 1005L: 2, 1185L: 8, 1232L: 8, 1186L: 8
+   36L: 8, 37L: 8, 170L: 8, 180L: 8, 186L: 4, 296L: 8, 426L: 6, 452L: 8, 464L: 8, 466L: 8, 467L: 8, 547L: 8, 548L: 8, 550L: 8, 552L: 4, 560L: 7, 562L: 4, 581L: 5, 608L: 8, 610L: 5, 643L: 7, 705L: 8, 713L: 8, 725L: 2, 740L: 5, 800L: 8, 835L: 8, 836L: 8, 849L: 4, 869L: 7, 870L: 7, 871L: 2, 896L: 8, 897L: 8, 900L: 6, 902L: 6, 905L: 8, 911L: 8, 916L: 3, 918L: 7, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 950L: 8, 951L: 8, 953L: 3, 955L: 8, 956L: 8, 979L: 2, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1005L: 2, 1008L: 2, 1014L: 8, 1017L: 8, 1041L: 8, 1042L: 8, 1043L: 8, 1044L: 8, 1056L: 8, 1059L: 1, 1114L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1176L: 8, 1177L: 8, 1178L: 8, 1179L: 8, 1180L: 8, 1181L: 8, 1184L: 8, 1185L: 8, 1186L: 8, 1190L: 8, 1191L: 8, 1192L: 8, 1196L: 8, 1197L: 8, 1198L: 8, 1199L: 8, 1212L: 8, 1227L: 8, 1228L: 8, 1232L: 8, 1235L: 8, 1237L: 8, 1263L: 8, 1264L: 8, 1279L: 8, 1408L: 8, 1409L: 8, 1410L: 8, 1552L: 8, 1553L: 8, 1554L: 8, 1555L: 8, 1556L: 8, 1557L: 8, 1561L: 8, 1562L: 8, 1568L: 8, 1569L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1584L: 8, 1589L: 8, 1592L: 8, 1593L: 8, 1595L: 8, 1596L: 8, 1597L: 8, 1600L: 8, 1656L: 8, 1664L: 8, 1728L: 8, 1745L: 8, 1779L: 8, 1904L: 8, 1912L: 8, 1990L: 8, 1998L: 8
  },
   TOYOTA.PRIUS: [{
     36L: 8, 37L: 8, 166L: 8, 170L: 8, 180L: 8, 295L: 8, 296L: 8, 426L: 6, 452L: 8, 466L: 8, 467L: 8, 550L: 8, 552L: 4, 560L: 7, 562L: 6, 581L: 5, 608L: 8, 610L: 8, 614L: 8, 643L: 7, 658L: 8, 713L: 8, 740L: 5, 742L: 8, 743L: 8, 800L: 8, 810L: 2, 814L: 8, 829L: 2, 830L: 7, 835L: 8, 836L: 8, 863L: 8, 869L: 7, 870L: 7, 871L: 2, 898L: 8, 900L: 6, 902L: 6, 905L: 8, 918L: 8, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 950L: 8, 951L: 8, 953L: 8, 955L: 8, 956L: 8, 971L: 7, 975L: 5, 993L: 8, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1014L: 8, 1017L: 8, 1020L: 8, 1041L: 8, 1042L: 8, 1044L: 8, 1056L: 8, 1057L: 8, 1059L: 1, 1071L: 8, 1077L: 8, 1082L: 8, 1083L: 8, 1084L: 8, 1085L: 8, 1086L: 8, 1114L: 8, 1132L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1175L: 8, 1227L: 8, 1228L: 8, 1235L: 8, 1237L: 8, 1279L: 8, 1552L: 8, 1553L: 8, 1556L: 8, 1557L: 8, 1568L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1595L: 8, 1777L: 8, 1779L: 8, 1904L: 8, 1912L: 8, 1990L: 8, 1998L: 8

selfdrive/boardd/boardd.cc

@@ -35,6 +35,8 @@
 #define SAFETY_HONDA 1
 #define SAFETY_TOYOTA 2
 #define SAFETY_ELM327 0xE327
+#define SAFETY_GM 3
+#define SAFETY_HONDA_BOSCH 4
 
 namespace {
 
@@ -95,6 +97,12 @@ void *safety_setter_thread(void *s) {
   case (int)cereal::CarParams::SafetyModels::ELM327:
     safety_setting = SAFETY_ELM327;
     break;
+  case (int)cereal::CarParams::SafetyModels::GM:
+    safety_setting = SAFETY_GM;
+    break;
+  case (int)cereal::CarParams::SafetyModels::HONDA_BOSCH:
+    safety_setting = SAFETY_HONDA_BOSCH;
+    break;
   default:
     LOGE("unknown safety model: %d", safety_model);
   }

selfdrive/car/__init__.py

@@ -26,7 +26,9 @@
   HONDA.ACURA_ILX: HondaInterface,
   HONDA.CRV: HondaInterface,
   HONDA.ODYSSEY: HondaInterface,
-  HONDA.ACURA_RDX: HondaInterface,
+  HONDA.ACURA_RDX: HondaInterface,  
+  HONDA.PILOT: HondaInterface,
+
 
   TOYOTA.PRIUS: ToyotaInterface,
   TOYOTA.RAV4: ToyotaInterface,

selfdrive/car/honda/carcontroller.py

@@ -116,7 +116,7 @@ def update(self, sendcan, enabled, CS, frame, actuators, \
     # *** compute control surfaces ***
     GAS_MAX = 1004
     BRAKE_MAX = 1024/4
-    if CS.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY):
+    if CS.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.PILOT):
       is_fw_modified = os.getenv("DONGLE_ID") in ['99c94dc769b5d96e']
       STEER_MAX = 0x1FFF if is_fw_modified else 0x1000
     elif CS.CP.carFingerprint in (CAR.CRV, CAR.ACURA_RDX):

selfdrive/car/honda/carstate.py

@@ -21,6 +21,7 @@ def parse_gear_shifter(can_gear_shifter, car_fingerprint):
       return "drive"
     elif can_gear_shifter == 0xa:
       return "sport"
+
   elif car_fingerprint in (CAR.CIVIC, CAR.CRV, CAR.ACURA_RDX):
     if can_gear_shifter == 0x4:
       return "neutral"
@@ -30,6 +31,16 @@ def parse_gear_shifter(can_gear_shifter, car_fingerprint):
       return "sport"
     elif can_gear_shifter == 0x20:
       return "low"
+
+  elif car_fingerprint in (CAR.PILOT):
+     if can_gear_shifter == 0x8:
+       return "reverse"
+     elif can_gear_shifter == 0x4:
+       return "park"
+     elif can_gear_shifter == 0x20:
+       return "drive"
+     elif can_gear_shifter == 0x2:
+        return "sport"
 
   return "unknown"
 
@@ -122,6 +133,10 @@ def get_can_signals(CP):
                 ("EPB_STATE", "EPB_STATUS", 0),
                 ("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0)]
     checks += [("EPB_STATUS", 50)]
+  elif CP.carFingerprint == CAR.PILOT:
+    dbc_f = 'honda_pilot_touring_2017_can_generated.dbc'
+    signals += [("MAIN_ON", "SCM_BUTTONS", 0),
+                ("CAR_GAS", "GAS_PEDAL_2", 0)]
 
   # add gas interceptor reading if we are using it
   if CP.enableGas:
@@ -184,9 +199,9 @@ def update(self, cp):
                                     cp.vl["DOORS_STATUS"]['DOOR_OPEN_RL'], cp.vl["DOORS_STATUS"]['DOOR_OPEN_RR']])
     self.seatbelt = not cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_LAMP'] and cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_LATCHED']
 
-    # 2 = temporary 4 = temporary, hit a bump 5 (permanent) 6 = temporary 7 (permanent)
+    # 2 = temporary 3= TBD 4 = temporary, hit a bump 5 (permanent) 6 = temporary 7 (permanent)
     # TODO: Use values from DBC to parse this field
-    self.steer_error = cp.vl["STEER_STATUS"]['STEER_STATUS'] not in [0, 2, 4, 6]
+    self.steer_error = cp.vl["STEER_STATUS"]['STEER_STATUS'] not in [0, 2, 3, 4, 6]
     self.steer_not_allowed = cp.vl["STEER_STATUS"]['STEER_STATUS'] != 0
     self.brake_error = cp.vl["STANDSTILL"]['BRAKE_ERROR_1'] or cp.vl["STANDSTILL"]['BRAKE_ERROR_2']
     self.esp_disabled = cp.vl["VSA_STATUS"]['ESP_DISABLED']

selfdrive/car/honda/hondacan.py

@@ -104,6 +104,9 @@ def create_radar_commands(v_ego, car_fingerprint, idx):
   elif car_fingerprint == CAR.ACURA_ILX:
     msg_0x301 = "\x0f\x18\x51\x02\x5a\x00\x00"
     commands.append(make_can_msg(0x300, msg_0x300, idx, 1))
+  elif car_fingerprint == CAR.PILOT:
+    msg_0x301 = "\x00\x00\x56\x02\x58\x00\x00"
+    commands.append(make_can_msg(0x300, msg_0x300, idx, 1))    
 
   commands.append(make_can_msg(0x301, msg_0x301, idx, 1))
   return commands

selfdrive/car/honda/interface.py

@@ -151,6 +151,7 @@ def get_params(candidate, fingerprint):
     tireStiffnessFront_civic = 85400
     tireStiffnessRear_civic = 90000
 
+    ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
     if candidate == CAR.CIVIC:
       stop_and_go = True
       ret.mass = mass_civic
@@ -159,7 +160,7 @@ def get_params(candidate, fingerprint):
       ret.steerRatio = 13.0
       # Civic at comma has modified steering FW, so different tuning for the Neo in that car
       is_fw_modified = os.getenv("DONGLE_ID") in ['99c94dc769b5d96e']
-      ret.steerKp, ret.steerKi = [0.4, 0.12] if is_fw_modified else [0.8, 0.24]
+      ret.steerKpV, ret.steerKiV = [[0.4], [0.12]] if is_fw_modified else [[0.8], [0.24]]
 
       ret.longitudinalKpBP = [0., 5., 35.]
       ret.longitudinalKpV = [3.6, 2.4, 1.5]
@@ -173,7 +174,7 @@ def get_params(candidate, fingerprint):
       ret.steerRatio = 15.3
       # Acura at comma has modified steering FW, so different tuning for the Neo in that car
       is_fw_modified = os.getenv("DONGLE_ID") in ['85a6c74d4ad9c310']
-      ret.steerKp, ret.steerKi = [0.4, 0.12] if is_fw_modified else [0.8, 0.24]
+      ret.steerKpV, ret.steerKiV = [[0.4], [0.12]] if is_fw_modified else [[0.8], [0.24]]
 
       ret.longitudinalKpBP = [0., 5., 35.]
       ret.longitudinalKpV = [1.2, 0.8, 0.5]
@@ -185,7 +186,7 @@ def get_params(candidate, fingerprint):
       ret.wheelbase = 2.62
       ret.centerToFront = ret.wheelbase * 0.41
       ret.steerRatio = 15.3
-      ret.steerKp, ret.steerKi = 0.8, 0.24
+      ret.steerKpV, ret.steerKiV = [[0.8], [0.24]]
 
       ret.longitudinalKpBP = [0., 5., 35.]
       ret.longitudinalKpV = [1.2, 0.8, 0.5]
@@ -197,7 +198,7 @@ def get_params(candidate, fingerprint):
       ret.wheelbase = 2.68
       ret.centerToFront = ret.wheelbase * 0.38
       ret.steerRatio = 15.0
-      ret.steerKp, ret.steerKi = 0.8, 0.24
+      ret.steerKpV, ret.steerKiV = [[0.8], [0.24]]
 
       ret.longitudinalKpBP = [0., 5., 35.]
       ret.longitudinalKpV = [1.2, 0.8, 0.5]
@@ -209,7 +210,19 @@ def get_params(candidate, fingerprint):
       ret.wheelbase = 3.00
       ret.centerToFront = ret.wheelbase * 0.41
       ret.steerRatio = 14.35
-      ret.steerKp, ret.steerKi = 0.6, 0.18
+      ret.steerKpV, ret.steerKiV = [[0.6], [0.18]]
+
+      ret.longitudinalKpBP = [0., 5., 35.]
+      ret.longitudinalKpV = [1.2, 0.8, 0.5]
+      ret.longitudinalKiBP = [0., 35.]
+      ret.longitudinalKiV = [0.18, 0.12]
+    elif candidate == CAR.PILOT:
+      stop_and_go = False
+      ret.mass = 4303./2.205 + std_cargo
+      ret.wheelbase = 2.81
+      ret.centerToFront = ret.wheelbase * 0.41
+      ret.steerRatio = 16.0
+      ret.steerKpV, ret.steerKiV = [[0.38], [0.11]]
 
       ret.longitudinalKpBP = [0., 5., 35.]
       ret.longitudinalKpV = [1.2, 0.8, 0.5]

selfdrive/car/toyota/interface.py

@@ -72,36 +72,37 @@ def get_params(candidate, fingerprint):
     tireStiffnessFront_civic = 85400
     tireStiffnessRear_civic = 90000
 
+    ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
     if candidate == CAR.PRIUS:
       ret.safetyParam = 66  # see conversion factor for STEER_TORQUE_EPS in dbc file
       ret.wheelbase = 2.70
       ret.steerRatio = 14.5  # TODO: find exact value for Prius
       ret.mass = 3045./2.205 + std_cargo
-      ret.steerKp, ret.steerKi = 0.6, 0.05
+      ret.steerKpV, ret.steerKiV = [[0.6], [0.05]]
       ret.steerKf = 0.00006   # full torque for 10 deg at 80mph means 0.00007818594
       ret.steerRateCost = 2.
     elif candidate in [CAR.RAV4, CAR.RAV4H]:
       ret.safetyParam = 73  # see conversion factor for STEER_TORQUE_EPS in dbc file
       ret.wheelbase = 2.65
       ret.steerRatio = 14.5 # Rav4 2017
       ret.mass = 3650./2.205 + std_cargo  # mean between normal and hybrid
-      ret.steerKp, ret.steerKi = 0.6, 0.05
+      ret.steerKpV, ret.steerKiV = [[0.6], [0.05]]
       ret.steerKf = 0.00006   # full torque for 10 deg at 80mph means 0.00007818594
       ret.steerRateCost = 1.
     elif candidate == CAR.COROLLA:
       ret.safetyParam = 100 # see conversion factor for STEER_TORQUE_EPS in dbc file
       ret.wheelbase = 2.70
       ret.steerRatio = 17.8
       ret.mass = 2860./2.205 + std_cargo  # mean between normal and hybrid
-      ret.steerKp, ret.steerKi = 0.2, 0.05
+      ret.steerKpV, ret.steerKiV = [[0.2], [0.05]]
       ret.steerKf = 0.00003   # full torque for 20 deg at 80mph means 0.00007818594
       ret.steerRateCost = 1.
     elif candidate == CAR.LEXUS_RXH:
       ret.safetyParam = 100 # see conversion factor for STEER_TORQUE_EPS in dbc file
       ret.wheelbase = 2.79
       ret.steerRatio = 16.  # official specs say 14.8, but it does not seem right
       ret.mass = 4481./2.205 + std_cargo  # mean between min and max
-      ret.steerKp, ret.steerKi = 0.6, 0.1
+      ret.steerKpV, ret.steerKiV = [[0.6], [0.1]]
       ret.steerKf = 0.00006   # full torque for 10 deg at 80mph means 0.00007818594
       ret.steerRateCost = .8
 

selfdrive/controls/lib/latcontrol.py

@@ -26,7 +26,9 @@ def get_steer_max(CP, v_ego):
 
 class LatControl(object):
   def __init__(self, VM):
-    self.pid = PIController(VM.CP.steerKp, VM.CP.steerKi, k_f=VM.CP.steerKf, pos_limit=1.0)
+    self.pid = PIController((VM.CP.steerKpBP, VM.CP.steerKpV),
+                            (VM.CP.steerKiBP, VM.CP.steerKiV),
+                            k_f=VM.CP.steerKf, pos_limit=1.0)
     self.last_cloudlog_t = 0.0
     self.setup_mpc(VM.CP.steerRateCost)
 
@@ -103,7 +105,7 @@ def update(self, active, v_ego, angle_steers, steer_override, d_poly, angle_offs
       self.pid.pos_limit = steers_max
       self.pid.neg_limit = -steers_max
       steer_feedforward = self.angle_steers_des * v_ego**2  # proportional to realigning tire momentum (~ lateral accel)
-      output_steer = self.pid.update(self.angle_steers_des, angle_steers, check_saturation=(v_ego > 10), override=steer_override, feedforward=steer_feedforward)
+      output_steer = self.pid.update(self.angle_steers_des, angle_steers, check_saturation=(v_ego > 10), override=steer_override, feedforward=steer_feedforward, speed=v_ego)
 
     self.sat_flag = self.pid.saturated
     return output_steer

selfdrive/controls/lib/pid.py

@@ -1,6 +1,5 @@
 import numpy as np
 from common.numpy_fast import clip, interp
-import numbers
 
 def apply_deadzone(error, deadzone):
   if error > deadzone:
@@ -30,21 +29,11 @@ def __init__(self, k_p, k_i, k_f=1., pos_limit=None, neg_limit=None, rate=100, s
 
   @property
   def k_p(self):
-    if isinstance(self._k_p, numbers.Number):
-      kp = self._k_p
-    else:
-      kp = interp(self.speed, self._k_p[0], self._k_p[1])
-
-    return kp
+    return interp(self.speed, self._k_p[0], self._k_p[1])
 
   @property
   def k_i(self):
-    if isinstance(self._k_i, numbers.Number):
-      ki = self._k_i
-    else:
-      ki = interp(self.speed, self._k_i[0], self._k_i[1])
-
-    return ki
+    return interp(self.speed, self._k_i[0], self._k_i[1])
 
   def _check_saturation(self, control, override, error):
     saturated = (control < self.neg_limit) or (control > self.pos_limit)