try to add wheelticks

hopefully i dont mess up anything else.

selfdrive/car/honda/carcontroller.py

@@ -100,6 +100,9 @@ def __init__(self, dbc_name, CP, VM):
     self.last_pump_ts = 0.
     self.packer = CANPacker(dbc_name)
     self.new_radar_config = False
+    self.stopped_frame = 0
+    self.last_wheeltick = 0
+    self.last_wheeltick_ct = 0
 
     # tesla radar
     p = Params()
@@ -152,14 +155,25 @@ def update(self, enabled, CS, frame, actuators,
     # **** process the car messages ****
 
     if CS.CP.carFingerprint in HONDA_BOSCH:
-      stopping = 0
+      stopped = 0
       starting = 0
       accel = actuators.gas - actuators.brake
-      if accel < 0 and CS.out.vEgo < 0.05:
-        # prevent rolling backwards
-        stopping = 0.  #vaggy's hack to stop the jerky brakes
-        # accel = -1.0 #vaggy's hack to stop the jerky brakes
-      elif accel > 0 and CS.out.vEgo < 0.05:
+      if accel < 0 and CS.out.vEgo <= 0.1:
+        if CS.avg_wheelTick == self.last_wheeltick:
+          self.last_wheeltick_ct += 1
+          if self.last_wheeltick_ct == 6:
+            self.stopped_frame = frame
+          if self.last_wheeltick_ct >= 6:
+            stopped = 1
+            # go to full brake after 1 second of standstill
+            if (frame - self.stopped_frame) >= 100:
+              accel = -1.0
+        else:
+          self.last_wheeltick = CS.avg_wheelTick
+          self.last_wheeltick_ct = 0
+          self.stopped_frame = 0
+
+      elif accel > 0 and (0.3 >= CS.out.vEgo >= 0):
         starting = 1
       apply_accel = interp(accel, BOSCH_ACCEL_LOOKUP_BP, BOSCH_ACCEL_LOOKUP_V)
       apply_gas = interp(accel, BOSCH_GAS_LOOKUP_BP, BOSCH_GAS_LOOKUP_V)
@@ -208,7 +222,7 @@ def update(self, enabled, CS, frame, actuators,
         idx = frame // 2
         ts = frame * DT_CTRL
         if CS.CP.carFingerprint in HONDA_BOSCH:
-          can_sends.extend(hondacan.create_acc_commands(self.packer, enabled, apply_accel, apply_gas, idx, stopping, starting, CS.CP.carFingerprint))
+          can_sends.extend(hondacan.create_acc_commands(self.packer, enabled, apply_accel, apply_gas, idx, stopped, starting, CS.CP.carFingerprint))
         else:
           apply_gas = clip(actuators.gas, 0., 1.)
           apply_brake = int(clip(self.brake_last * P.BRAKE_MAX, 0, P.BRAKE_MAX - 1))

selfdrive/car/honda/carstate.py

@@ -80,6 +80,10 @@ def get_can_signals(CP):
     ]
 
   if CP.carFingerprint in HONDA_BOSCH:
+    signals += [("WHEEL_TICK_FL", "WHEEL_TICKS", 0),
+                ("WHEEL_TICK_FR", "WHEEL_TICKS", 0),
+                ("WHEEL_TICK_RL", "WHEEL_TICKS", 0),
+                ("WHEEL_TICK_RR", "WHEEL_TICKS", 0)]
     # Civic is only bosch to use the same brake message as other hondas.
     if CP.carFingerprint not in (CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT):
       signals += [("BRAKE_PRESSED", "BRAKE_MODULE", 0)]
@@ -221,6 +225,12 @@ def update(self, cp, cp_cam, cp_body):
     ret.wheelSpeeds.rl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RL'] * CV.KPH_TO_MS * speed_factor
     ret.wheelSpeeds.rr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RR'] * CV.KPH_TO_MS * speed_factor
     v_wheel = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr)/4.
+
+    self.FL_wheelTick = cp.vl["WHEEL_TICKS"]['WHEEL_TICK_FL']
+    self.FR_wheelTick = cp.vl["WHEEL_TICKS"]['WHEEL_TICK_FR']
+    self.RL_wheelTick = cp.vl["WHEEL_TICKS"]['WHEEL_TICK_RL']
+    self.RR_wheelTick = cp.vl["WHEEL_TICKS"]['WHEEL_TICK_RR']
+    self.avg_wheelTick = (self.FL_wheelTick + self.FR_wheelTick + self.RL_wheelTick + self.RR_wheelTick) / 4.
 
     # blend in transmission speed at low speed, since it has more low speed accuracy
     v_weight = interp(v_wheel, v_weight_bp, v_weight_v)

selfdrive/car/honda/hondacan.py

@@ -45,16 +45,16 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_
   return packer.make_can_msg("BRAKE_COMMAND", bus, values, idx)
 
 
-def create_acc_commands(packer, enabled, accel, gas, idx, stopping, starting, car_fingerprint):
+def create_acc_commands(packer, enabled, accel, gas, idx, stopped, starting, car_fingerprint):
   commands = []
   bus = get_pt_bus(car_fingerprint)
 
   control_on = 5 if enabled else 0
   # no gas = -30000
   gas_command = gas if enabled and gas > 0 else -30000
   accel_command = accel if enabled else 0
-  braking = 1 if enabled and accel < 0 else 0
-  standstill = 1 if enabled and stopping else 0
+  braking = 1 if enabled and accel < -0.15 else 0
+  standstill = 1 if enabled and stopped else 0
   standstill_release = 1 if enabled and starting else 0
 
   acc_control_values = {

selfdrive/car/honda/interface.py

@@ -447,8 +447,8 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # py
       ret.brakeMaxBP = [5., 20.]  # m/s
       ret.brakeMaxV = [1., 0.8]   # max brake allowed
 
-    ret.stoppingControl = True
-    ret.startAccel = 0.5
+    #ret.stoppingControl = True
+    #ret.startAccel = 0.5
 
     ret.steerActuatorDelay = 0.1
     ret.steerRateCost = 0.5