Add 2021-22 Honda Odyssey and 2022 Acura RDX

Add to cam parser

explicit

new line

RELEASES.md

@@ -7,6 +7,8 @@ Version 0.8.16 (2022-XX-XX)
 * Hyundai Ioniq 5 2022 support thanks to sunnyhaibin!
 * Hyundai Kona Electric 2022 support thanks to sunnyhaibin!
 * Subaru Outback 2020-22 support
+* Honda Odyssey 2021-22 support thanks to csouers!
+* Acura RDX 2022 support thanks to csouers!
 
 Version 0.8.15 (2022-07-20)
 ========================

selfdrive/car/honda/carcontroller.py

@@ -154,8 +154,10 @@ def update(self, CC, CS):
       if self.frame % 10 == 0:
         can_sends.append((0x18DAB0F1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 1))
 
+    lateral_active = CC.enabled if self.CP.minSteerSpeed > 0. else CC.latActive
+
     # Send steering command.
-    can_sends.append(hondacan.create_steering_control(self.packer, apply_steer, CC.latActive, self.CP.carFingerprint,
+    can_sends.append(hondacan.create_steering_control(self.packer, apply_steer, lateral_active, self.CP.carFingerprint,
                                                       CS.CP.openpilotLongitudinalControl))
 
     # wind brake from air resistance decel at high speed

selfdrive/car/honda/carstate.py

@@ -10,7 +10,7 @@
 from selfdrive.car.interfaces import CarStateBase
 
 TransmissionType = car.CarParams.TransmissionType
-
+MAX_STEPS_STEER_MISMATCH = 4 + 2 # 3-4 steps is most common. Inlude a buffer.
 
 def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
   signals = [
@@ -67,7 +67,7 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
       ("SCM_BUTTONS", 25),
     ]
 
-  if CP.carFingerprint in (CAR.CRV_HYBRID, CAR.CIVIC_BOSCH_DIESEL, CAR.ACURA_RDX_3G, CAR.HONDA_E):
+  if CP.carFingerprint in (CAR.CRV_HYBRID, CAR.CIVIC_BOSCH_DIESEL, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.ODYSSEY_BOSCH):
     checks.append((gearbox_msg, 50))
   else:
     checks.append((gearbox_msg, 100))
@@ -86,6 +86,7 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
       signals += [
         ("CRUISE_CONTROL_LABEL", "ACC_HUD"),
         ("CRUISE_SPEED", "ACC_HUD"),
+        ("IMPERIAL_UNIT", "ACC_HUD"),
         ("ACCEL_COMMAND", "ACC_CONTROL"),
         ("AEB_STATUS", "ACC_CONTROL"),
       ]
@@ -102,7 +103,7 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
     else:
       checks.append(("CRUISE_PARAMS", 50))
 
-  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022):
+  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.ODYSSEY_BOSCH):
     signals.append(("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK"))
   elif CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
     signals.append(("DRIVERS_DOOR_OPEN", "SCM_BUTTONS"))
@@ -126,6 +127,9 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
     ]
     checks.append(("STANDSTILL", 50))
 
+  if CP.minSteerSpeed > 0.:
+    signals.append(("STEER_CONTROL_ACTIVE", "STEER_STATUS"))
+
   return signals, checks
 
 
@@ -143,6 +147,7 @@ def __init__(self, CP):
 
     self.shifter_values = can_define.dv[self.gearbox_msg]["GEAR_SHIFTER"]
     self.steer_status_values = defaultdict(lambda: "UNKNOWN", can_define.dv["STEER_STATUS"]["STEER_STATUS"])
+    self.steer_mismatch_cnt = 0
 
     self.brake_error = False
     self.brake_switch_prev = False
@@ -171,7 +176,7 @@ def update(self, cp, cp_cam, cp_body):
     # panda checks if the signal is non-zero
     ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5
     # TODO: find a common signal across all cars
-    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022):
+    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.ODYSSEY_BOSCH):
       ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"])
     elif self.CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
       ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"])
@@ -180,12 +185,6 @@ def update(self, cp, cp_cam, cp_body):
                           cp.vl["DOORS_STATUS"]["DOOR_OPEN_RL"], cp.vl["DOORS_STATUS"]["DOOR_OPEN_RR"]])
     ret.seatbeltUnlatched = bool(cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_LAMP"] or not cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_LATCHED"])
 
-    steer_status = self.steer_status_values[cp.vl["STEER_STATUS"]["STEER_STATUS"]]
-    ret.steerFaultPermanent = steer_status not in ("NORMAL", "NO_TORQUE_ALERT_1", "NO_TORQUE_ALERT_2", "LOW_SPEED_LOCKOUT", "TMP_FAULT")
-    # LOW_SPEED_LOCKOUT is not worth a warning
-    # NO_TORQUE_ALERT_2 can be caused by bump or steering nudge from driver
-    ret.steerFaultTemporary = steer_status not in ("NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2")
-
     if self.CP.openpilotLongitudinalControl:
       self.brake_error = cp.vl["STANDSTILL"]["BRAKE_ERROR_1"] or cp.vl["STANDSTILL"]["BRAKE_ERROR_2"]
     ret.espDisabled = cp.vl["VSA_STATUS"]["ESP_DISABLED"] != 0
@@ -235,9 +234,9 @@ def update(self, cp, cp_cam, cp_body):
         acc_hud = cp_cam.vl["ACC_HUD"] if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS else cp.vl["ACC_HUD"]
         ret.cruiseState.nonAdaptive = acc_hud["CRUISE_CONTROL_LABEL"] != 0
         ret.cruiseState.standstill = acc_hud["CRUISE_SPEED"] == 252.
-
         # on certain cars, CRUISE_SPEED changes to imperial with car's unit setting
-        conversion_factor = CV.MPH_TO_MS if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS and not self.is_metric else CV.KPH_TO_MS
+        ## TODO: verify with certainty. initial test route checks show that Bosch sets this unit according to the vehicles origin
+        conversion_factor = CV.MPH_TO_MS if bool(acc_hud["IMPERIAL_UNIT"]) else CV.KPH_TO_MS
         # On set, cruise set speed pulses between 254~255 and the set speed prev is set to avoid this.
         ret.cruiseState.speed = self.v_cruise_pcm_prev if acc_hud["CRUISE_SPEED"] > 160.0 else acc_hud["CRUISE_SPEED"] * conversion_factor
         self.v_cruise_pcm_prev = ret.cruiseState.speed
@@ -263,6 +262,21 @@ def update(self, cp, cp_cam, cp_body):
     ret.cruiseState.enabled = cp.vl["POWERTRAIN_DATA"]["ACC_STATUS"] != 0
     ret.cruiseState.available = bool(cp.vl[self.main_on_sig_msg]["MAIN_ON"])
 
+    steer_status = self.steer_status_values[cp.vl["STEER_STATUS"]["STEER_STATUS"]]
+    # LOW_SPEED_LOCKOUT is not worth a warning on most cars
+    # NO_TORQUE_ALERT_2 can be caused by bump or steering nudge from driver
+    ret.steerFaultPermanent = steer_status not in ("NORMAL", "NO_TORQUE_ALERT_1", "NO_TORQUE_ALERT_2", "LOW_SPEED_LOCKOUT", "TMP_FAULT")
+    if self.CP.minSteerSpeed > 0.:
+      # TODO: make generic for all makes and clean up
+      # Check for steer mismatch when engaged and moving before setting a temporary fault. Allow for a small buffer as to not flash the alert when engaging.
+      self.steer_mismatch_cnt = self.steer_mismatch_cnt + 1 if ret.cruiseState.enabled and \
+                                not bool(cp.vl["STEER_STATUS"]["STEER_CONTROL_ACTIVE"]) and not ret.standstill else 0
+      steer_mismatch = True if self.steer_mismatch_cnt > MAX_STEPS_STEER_MISMATCH else False
+    else:
+      steer_mismatch = False
+    # TODO: detect the torque request diff from OP vs the radar
+    ret.steerFaultTemporary = steer_status not in ("NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2") or steer_mismatch
+
     # Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models
     if self.CP.carFingerprint in (CAR.PILOT, CAR.PASSPORT, CAR.RIDGELINE):
       if ret.brake > 0.1:
@@ -310,6 +324,7 @@ def get_cam_can_parser(CP):
         signals += [
           ("CRUISE_SPEED", "ACC_HUD"),
           ("CRUISE_CONTROL_LABEL", "ACC_HUD"),
+          ("IMPERIAL_UNIT", "ACC_HUD"),
         ]
         checks.append(("ACC_HUD", 10))
 

selfdrive/car/honda/interface.py

@@ -3,7 +3,7 @@
 from panda import Panda
 from common.conversions import Conversions as CV
 from common.numpy_fast import interp
-from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
+from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS, STEER_LIMITING_RADAR
 from selfdrive.car import STD_CARGO_KG, CivicParams, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 from selfdrive.car.disable_ecu import disable_ecu
@@ -84,6 +84,8 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
     for fw in car_fw:
       if fw.ecu == "eps" and b"," in fw.fwVersion:
         eps_modified = True
+      if fw.ecu == "fwdRadar" and fw.fwVersion in STEER_LIMITING_RADAR and not ret.openpilotLongitudinalControl:
+        ret.minSteerSpeed = 36.5 * CV.MPH_TO_MS
 
     if candidate == CAR.CIVIC:
       ret.mass = CivicParams.MASS
@@ -219,12 +221,15 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
       tire_stiffness_factor = 0.677
 
-    elif candidate == CAR.ODYSSEY:
+    elif candidate in (CAR.ODYSSEY, CAR.ODYSSEY_BOSCH):
       ret.mass = 4471. * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 3.00
       ret.centerToFront = ret.wheelbase * 0.41
       ret.steerRatio = 14.35  # as spec
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
+      if candidate == CAR.ODYSSEY_BOSCH and not ret.openpilotLongitudinalControl:
+        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]  # clipped by radar
+      else:
+        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.82
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
 

selfdrive/car/honda/values.py

@@ -86,6 +86,7 @@ class CAR:
   HRV = "HONDA HRV 2019"
   ODYSSEY = "HONDA ODYSSEY 2018"
   ODYSSEY_CHN = "HONDA ODYSSEY CHN 2019"
+  ODYSSEY_BOSCH = "HONDA ODYSSEY 2021"
   ACURA_RDX = "ACURA RDX 2018"
   ACURA_RDX_3G = "ACURA RDX 2020"
   PILOT = "HONDA PILOT 2017"
@@ -99,7 +100,9 @@ class Footnote(Enum):
   CIVIC_DIESEL = CarFootnote(
     "2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.",
     Column.FSR_STEERING)
-
+  STEER_LIMITING_RADAR = CarFootnote(
+    "Stock LKAS limitations apply when used with Stock ACC, including minimum speed and active windshield wiper mode.",
+    Column.FSR_STEERING)
 
 @dataclass
 class HondaCarInfo(CarInfo):
@@ -133,8 +136,12 @@ class HondaCarInfo(CarInfo):
   CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", harness=Harness.nidec),
   CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20", min_steer_speed=0., harness=Harness.nidec),
   CAR.ODYSSEY_CHN: None,  # Chinese version of Odyssey
+  CAR.ODYSSEY_BOSCH: HondaCarInfo("Honda Odyssey 2021-22", "All", min_steer_speed=36.5 * CV.MPH_TO_MS, footnotes=[Footnote.STEER_LIMITING_RADAR], harness=Harness.bosch_a),
   CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", harness=Harness.nidec),
-  CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
+  CAR.ACURA_RDX_3G: [
+    HondaCarInfo("Acura RDX 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
+    HondaCarInfo("Acura RDX 2022", "All", min_steer_speed=36.5 * CV.MPH_TO_MS, footnotes=[Footnote.STEER_LIMITING_RADAR], harness=Harness.bosch_a),
+  ],
   CAR.PILOT: HondaCarInfo("Honda Pilot 2016-22", harness=Harness.nidec),
   CAR.PASSPORT: HondaCarInfo("Honda Passport 2019-21", "All", harness=Harness.nidec),
   CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-22", harness=Harness.nidec),
@@ -1023,6 +1030,35 @@ class HondaCarInfo(CarInfo):
       b'54008-THR-A020\x00\x00',
     ],
   },
+  CAR.ODYSSEY_BOSCH: {
+    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
+      b'37805-5MR-C730\x00\x00',  # 2021 Touring
+      b'37805-5MR-C910\x00\x00',  # 2022 Touring
+      b'37805-5MR-C920\x00\x00',  # 2022 Elite
+    ],
+    (Ecu.transmission, 0x18da1ef1, None): [
+      b'28102-5MX-A100\x00\x00',  # 2021 Touring, 2022 Elite
+      b'28102-5MX-C100\x00\x00',  # 2022 Touring
+    ],
+    (Ecu.electricBrakeBooster, 0x18da2bf1, None): [b'46114-THR-A530\x00\x00'],
+    (Ecu.gateway, 0x18daeff1, None): [b'38897-THR-A130\x00\x00'],
+    (Ecu.eps, 0x18da30f1, None): [b'39990-THR-A050\x00\x00'],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [b'36802-THR-A220\x00\x00'],
+    (Ecu.fwdCamera, 0x18dab5f1, None): [b'36161-THR-A220\x00\x00'],
+    (Ecu.shiftByWire, 0x18da0bf1, None): [b'54008-THR-A310\x00\x00'],
+    (Ecu.srs, 0x18da53f1, None): [b'77959-THR-A220\x00\x00'],
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-THR-A230\x00\x00',
+      b'57114-THR-A240\x00\x00', # 2022 Elite
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-THR-AS10\x00\x00',  # 2021 Touring
+      b'78109-THR-AT10\x00\x00',  # 2021 ?, 2022 Elite
+      b'78109-THR-CT10\x00\x00',  # 2022 Touring
+      b'78109-THR-AR10\x00\x00',  # 2021 EX-L
+      b'78109-THR-AQ10\x00\x00',  # 2022 EX
+    ],
+  },
   CAR.PILOT: {
     (Ecu.shiftByWire, 0x18da0bf1, None): [
       b'54008-TG7-A520\x00\x00',
@@ -1194,6 +1230,7 @@ class HondaCarInfo(CarInfo):
       b'37805-5YF-A750\x00\x00',
       b'37805-5YF-A850\x00\x00',
       b'37805-5YF-A870\x00\x00',
+      b'37805-5YF-AD20\x00\x00',
       b'37805-5YF-C210\x00\x00',
       b'37805-5YF-C220\x00\x00',
       b'37805-5YF-C410\000\000',
@@ -1202,23 +1239,28 @@ class HondaCarInfo(CarInfo):
     (Ecu.vsa, 0x18da28f1, None): [
       b'57114-TJB-A030\x00\x00',
       b'57114-TJB-A040\x00\x00',
+      b'57114-TJB-A120\x00\x00',
     ],
     (Ecu.fwdRadar, 0x18dab0f1, None): [
       b'36802-TJB-A040\x00\x00',
       b'36802-TJB-A050\x00\x00',
+      b'36802-TJB-A540\x00\x00',
     ],
     (Ecu.fwdCamera, 0x18dab5f1, None): [
       b'36161-TJB-A040\x00\x00',
+      b'36161-TJB-A530\x00\x00',
     ],
     (Ecu.shiftByWire, 0x18da0bf1, None): [
       b'54008-TJB-A520\x00\x00',
+      b'54008-TJB-A530\x00\x00',
     ],
     (Ecu.transmission, 0x18da1ef1, None): [
       b'28102-5YK-A610\x00\x00',
       b'28102-5YK-A620\x00\x00',
       b'28102-5YK-A630\x00\x00',
       b'28102-5YK-A700\x00\x00',
       b'28102-5YK-A711\x00\x00',
+      b'28102-5YK-A800\x00\x00',
       b'28102-5YL-A620\x00\x00',
       b'28102-5YL-A700\x00\x00',
       b'28102-5YL-A711\x00\x00',
@@ -1230,6 +1272,7 @@ class HondaCarInfo(CarInfo):
       b'78109-TJB-AB10\x00\x00',
       b'78109-TJB-AD10\x00\x00',
       b'78109-TJB-AF10\x00\x00',
+      b'78109-TJB-AQ20\x00\x00',
       b'78109-TJB-AR10\x00\x00',
       b'78109-TJB-AS10\000\000',
       b'78109-TJB-AU10\x00\x00',
@@ -1241,23 +1284,30 @@ class HondaCarInfo(CarInfo):
     ],
     (Ecu.srs, 0x18da53f1, None): [
       b'77959-TJB-A040\x00\x00',
+      b'77959-TJB-A120\x00\x00',
       b'77959-TJB-A210\x00\x00',
     ],
     (Ecu.electricBrakeBooster, 0x18da2bf1, None): [
       b'46114-TJB-A040\x00\x00',
       b'46114-TJB-A050\x00\x00',
       b'46114-TJB-A060\x00\x00',
+      b'46114-TJB-A120\x00\x00',
     ],
     (Ecu.gateway, 0x18daeff1, None): [
       b'38897-TJB-A040\x00\x00',
       b'38897-TJB-A110\x00\x00',
       b'38897-TJB-A120\x00\x00',
+      b'38897-TJB-A220\x00\x00',
     ],
     (Ecu.eps, 0x18da30f1, None): [
       b'39990-TJB-A030\x00\x00',
       b'39990-TJB-A040\x00\x00',
+      b'39990-TJB-A070\x00\x00',
       b'39990-TJB-A130\x00\x00'
     ],
+    (Ecu.unknown, 0x18da3af1, None):[
+      b'39390-TJB-A110\x00\x00',
+    ],
   },
   CAR.RIDGELINE: {
     (Ecu.eps, 0x18da30f1, None): [
@@ -1444,6 +1494,9 @@ class HondaCarInfo(CarInfo):
   },
 }
 
+# Bosch radar with these firmware IDs limit steering availability to the same vehicle conditions as the factory LKAS (i.e. speed and wiper mode).
+STEER_LIMITING_RADAR = [b'36802-THR-A220\x00\x00', b'36802-TJB-A540\x00\x00']
+
 DBC = {
   CAR.ACCORD: dbc_dict('honda_accord_2018_can_generated', None),
   CAR.ACCORDH: dbc_dict('honda_accord_2018_can_generated', None),
@@ -1462,6 +1515,7 @@ class HondaCarInfo(CarInfo):
   CAR.HRV: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
   CAR.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
   CAR.ODYSSEY_CHN: dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'),
+  CAR.ODYSSEY_BOSCH: dbc_dict('acura_rdx_2020_can_generated', None),
   CAR.PILOT: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
   CAR.PASSPORT: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
   CAR.RIDGELINE: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
@@ -1480,6 +1534,6 @@ class HondaCarInfo(CarInfo):
 HONDA_NIDEC_ALT_SCM_MESSAGES = {CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN,
                                 CAR.PILOT, CAR.PASSPORT, CAR.RIDGELINE}
 HONDA_BOSCH = {CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G,
-               CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022}
-HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G}
+               CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.ODYSSEY_BOSCH}
+HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G, CAR.ODYSSEY_BOSCH}
 HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022}

selfdrive/car/tests/routes.py

@@ -50,6 +50,8 @@
   TestRoute("f08912a233c1584f|2022-08-11--18-02-41", GM.BOLT_EUV),
 
   TestRoute("0e7a2ba168465df5|2020-10-18--14-14-22", HONDA.ACURA_RDX_3G),
+  # do we need this?
+  # TestRoute("", HONDA.ACURA_RDX_3G), # 2022 with radar steering limitation
   TestRoute("a74b011b32b51b56|2020-07-26--17-09-36", HONDA.CIVIC),
   TestRoute("a859a044a447c2b0|2020-03-03--18-42-45", HONDA.CRV_EU),
   TestRoute("68aac44ad69f838e|2021-05-18--20-40-52", HONDA.CRV),
@@ -66,6 +68,7 @@
   TestRoute("f29e2b57a55e7ad5|2021-03-24--20-52-38", HONDA.ACCORDH), # 2021 with new style HUD msgs
   TestRoute("1ad763dd22ef1a0e|2020-02-29--18-37-03", HONDA.CRV_5G),
   TestRoute("0a96f86fcfe35964|2020-02-05--07-25-51", HONDA.ODYSSEY),
+  # TestRoute("", HONDA.ODYSSEY_BOSCH),   # TODO: get this
   TestRoute("d83f36766f8012a5|2020-02-05--18-42-21", HONDA.CIVIC_BOSCH_DIESEL),
   TestRoute("f0890d16a07a236b|2021-05-25--17-27-22", HONDA.INSIGHT),
   TestRoute("07d37d27996096b6|2020-03-04--21-57-27", HONDA.PILOT),

selfdrive/car/torque_data/substitute.yaml

@@ -47,6 +47,7 @@ HONDA CR-V EU 2016: HONDA CR-V 2016
 HONDA CIVIC SEDAN 1.6 DIESEL 2019: HONDA CIVIC (BOSCH) 2019
 HONDA E 2020: HONDA CIVIC (BOSCH) 2019
 HONDA ODYSSEY CHN 2019: HONDA ODYSSEY 2018
+HONDA ODYSSEY 2021: HONDA ODYSSEY 2018
 
 BUICK REGAL ESSENCE 2018: CHEVROLET VOLT PREMIER 2017
 CADILLAC ESCALADE ESV 2016: CHEVROLET VOLT PREMIER 2017