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Bugfix: Using Resume to accelerate from a stopped position with Brake Hold Active causes malfunction error codes and various warning lights to appear #280

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Bugfix: Using Resume to accelerate from a stopped position with Brake Hold Active causes malfunction error codes and various warning lights to appear #280

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5f4cac4
Update honda_clarity_hybrid_2018_can_generated.dbc
Micim987 Sep 5, 2025
8fc52d9
Update carstate.py
THERoen Sep 11, 2025
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7 changes: 7 additions & 0 deletions opendbc/honda_clarity_hybrid_2018_can_generated.dbc
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Original file line number Diff line number Diff line change
Expand Up @@ -308,6 +308,13 @@ BO_ 388 BRAKE_ERROR: 8 XXX
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

BO_ 547 BRAKE_HOLD: 6 XXX
SG_ BRAKE_HOLD_FAULT_BIT : 33|1@0+ (1,0) [0|1] "" XXX
SG_ BRAKE_HOLD_ENABLED : 37|2@0+ (1,0) [0|7] "" XXX
SG_ BRAKE_HOLD_ACTIVE : 38|1@0+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" XXX
SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" XXX

BO_ 399 STEER_STATUS: 7 EPS
SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
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6 changes: 5 additions & 1 deletion selfdrive/car/honda/carstate.py
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Expand Up @@ -80,6 +80,7 @@ def get_can_messages(CP, gearbox_msg):
messages.append(("CRUISE_FAULT_STATUS", 50))
elif CP.carFingerprint == CAR.HONDA_CLARITY:
messages.append(("BRAKE_ERROR", 100)),
messages.append(("BRAKE_HOLD", 25)),
elif CP.openpilotLongitudinalControl:
messages.append(("STANDSTILL", 50))

Expand Down Expand Up @@ -189,7 +190,10 @@ def update(self, cp, cp_cam, cp_body, frogpilot_toggles):

ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_stalk(
250, cp.vl["SCM_FEEDBACK"]["LEFT_BLINKER"], cp.vl["SCM_FEEDBACK"]["RIGHT_BLINKER"])
ret.brakeHoldActive = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"] == 1
if self.CP.carFingerprint == CAR.HONDA_CLARITY and not self.CP.enableGasInterceptor:
ret.brakeHoldActive = cp.vl["BRAKE_HOLD"]["BRAKE_HOLD_ACTIVE"] == 1
else:
ret.brakeHoldActive = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"] == 1

# TODO: set for all cars
if self.CP.carFingerprint in (HONDA_BOSCH | {CAR.HONDA_CIVIC, CAR.HONDA_CLARITY, CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN}):
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