From 3e5091d9ec3134d70ca6ba62ba1859d5129c1aab Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Wed, 5 Mar 2025 04:48:36 -0500
Subject: [PATCH 01/54] Odyssey_5G_MMR

---
 opendbc/car/honda/carstate.py | 20 ++++++++++++++++----
 1 file changed, 16 insertions(+), 4 deletions(-)

diff --git a/opendbc/car/honda/carstate.py b/opendbc/car/honda/carstate.py
index b70a9a394b..5cc96128eb 100644
--- a/opendbc/car/honda/carstate.py
+++ b/opendbc/car/honda/carstate.py
@@ -5,7 +5,7 @@
 from opendbc.can.parser import CANParser
 from opendbc.car import Bus, create_button_events, structs
 from opendbc.car.common.conversions import Conversions as CV
-from opendbc.car.honda.hondacan import CanBus, get_cruise_speed_conversion
+from opendbc.car.honda.hondacan import CanBus
 from opendbc.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, \
                                                  HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, \
                                                  HondaFlags, CruiseButtons, CruiseSettings, GearShifter
@@ -70,7 +70,7 @@ def get_can_messages(CP, gearbox_msg):
 
   # TODO: clean this up
   if CP.carFingerprint in (CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CRV_HYBRID, CAR.HONDA_INSIGHT,
-                           CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.HONDA_CIVIC_2022, CAR.HONDA_HRV_3G):
+                           CAR.ACURA_RDX_3G, CAR.HONDA_ODYSSEY_5G_MMR, CAR.HONDA_E, CAR.HONDA_CIVIC_2022, CAR.HONDA_HRV_3G):
     pass
   elif CP.carFingerprint in (CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_FREED, CAR.HONDA_HRV):
     pass
@@ -107,6 +107,7 @@ def __init__(self, CP):
     self.brake_switch_active = False
     self.cruise_setting = 0
     self.v_cruise_pcm_prev = 0
+    self.is_metric_cruise = False
 
     # When available we use cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] to populate vEgoCluster
     # However, on cars without a digital speedometer this is not always present (HRV, FIT, CRV 2016, ILX and RDX)
@@ -133,13 +134,21 @@ def update(self, can_parsers) -> structs.CarState:
     # used for car hud message
     self.is_metric = not cp.vl["CAR_SPEED"]["IMPERIAL_UNIT"]
 
+    # is_metric_cruise is used for cruise speed display
+    # ACC_HUD is on camera bus on radarless cars
+    acc_hud = cp_cam.vl["ACC_HUD"] if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS else cp.vl["ACC_HUD"]
+    if acc_hud["CRUISE_SPEED"] >= 253:
+      self.is_metric_cruise = self.is_metric
+    else:
+      self.is_metric_cruise = not acc_hud["IMPERIAL_UNIT"]
+    
     # ******************* parse out can *******************
     # STANDSTILL->WHEELS_MOVING bit can be noisy around zero, so use XMISSION_SPEED
     # 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.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CRV_HYBRID, CAR.HONDA_INSIGHT,
-                                  CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.HONDA_CIVIC_2022, CAR.HONDA_HRV_3G):
+                                  CAR.ACURA_RDX_3G, CAR.HONDA_ODYSSEY_5G_MMR, CAR.HONDA_E, CAR.HONDA_CIVIC_2022, CAR.HONDA_HRV_3G):
       ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"])
     elif self.CP.carFingerprint in (CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_FREED, CAR.HONDA_HRV):
       ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"])
@@ -225,7 +234,7 @@ def update(self, can_parsers) -> structs.CarState:
         ret.cruiseState.nonAdaptive = acc_hud["CRUISE_CONTROL_LABEL"] != 0
         ret.cruiseState.standstill = acc_hud["CRUISE_SPEED"] == 252.
 
-        conversion = get_cruise_speed_conversion(self.CP.carFingerprint, self.is_metric)
+        conversion = CV.KPH_TO_MS if self.is_metric_cruise else CV.MPH_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
         self.v_cruise_pcm_prev = ret.cruiseState.speed
@@ -251,6 +260,9 @@ def update(self, can_parsers) -> structs.CarState:
     ret.cruiseState.enabled = cp.vl["POWERTRAIN_DATA"]["ACC_STATUS"] != 0
     ret.cruiseState.available = bool(cp.vl[self.main_on_sig_msg]["MAIN_ON"])
 
+    # Adds low speed warning as some models disable cruise at various speeds, ignore warning under 3mph
+    ret.lowSpeedAlert = ret.cruiseState.enabled and ret.vEgo >= 4 * CV.MPH_TO_MS and cp.vl["STEER_STATUS"]["STEER_CONTROL_ACTIVE"] == 0 
+    
     # Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models
     if self.CP.carFingerprint in (CAR.HONDA_PILOT, CAR.HONDA_RIDGELINE):
       if ret.brake > 0.1:

From a4f0fc5c8c3410463a80361c16f6347183ee0882 Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Wed, 5 Mar 2025 04:52:20 -0500
Subject: [PATCH 02/54] Odyssey_5G_MMR

---
 opendbc/car/honda/carcontroller.py | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/opendbc/car/honda/carcontroller.py b/opendbc/car/honda/carcontroller.py
index 43e227df5a..2a1b9b27f9 100644
--- a/opendbc/car/honda/carcontroller.py
+++ b/opendbc/car/honda/carcontroller.py
@@ -119,7 +119,7 @@ def __init__(self, dbc_names, CP):
   def update(self, CC, CS, now_nanos):
     actuators = CC.actuators
     hud_control = CC.hudControl
-    conversion = hondacan.get_cruise_speed_conversion(self.CP.carFingerprint, CS.is_metric)
+    conversion = CV.KPH_TO_MS if CS.is_metric_cruise else CV.MPH_TO_MS
     hud_v_cruise = hud_control.setSpeed / conversion if hud_control.speedVisible else 255
     pcm_cancel_cmd = CC.cruiseControl.cancel
 
@@ -206,7 +206,11 @@ def update(self, CC, CS, now_nanos):
         ts = self.frame * DT_CTRL
 
         if self.CP.carFingerprint in HONDA_BOSCH:
-          self.accel = float(np.clip(accel, self.params.BOSCH_ACCEL_MIN, self.params.BOSCH_ACCEL_MAX))
+          if self.CP.carFingerprint in HONDA_BOSCH_1000:
+            self.accel = float(np.clip(accel, self.params.BOSCH_1000_ACCEL_MIN, self.params.BOSCH_1000_ACCEL_MAX))
+          else:
+            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))
 
           stopping = actuators.longControlState == LongCtrlState.stopping

From 67536c6b54590a7a799c70c0769e10ce5e7b7ddd Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Wed, 5 Mar 2025 04:55:16 -0500
Subject: [PATCH 03/54] Odyssey_5G_MMR

---
 opendbc/car/honda/fingerprints.py | 40 +++++++++++++++++++++++++++++++
 1 file changed, 40 insertions(+)

diff --git a/opendbc/car/honda/fingerprints.py b/opendbc/car/honda/fingerprints.py
index 486f5005a4..0eed4e73fd 100644
--- a/opendbc/car/honda/fingerprints.py
+++ b/opendbc/car/honda/fingerprints.py
@@ -562,6 +562,46 @@
       b'77959-T6A-P110\x00\x00',
     ],
   },
+  CAR.HONDA_ODYSSEY_5G_MMR: {
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-THR-A230\x00\x00',
+      b'57114-THR-A240\x00\x00',
+      b'57114-THR-A520\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36802-THR-A220\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x18dab5f1, None): [
+      b'36161-THR-A220\x00\x00',
+      b'36161-THR-A230\x00\x00',
+    ],
+    (Ecu.shiftByWire, 0x18da0bf1, None): [
+      b'54008-THR-A310\x00\x00',
+      b'54008-THR-A310\x00\x00',
+    ],
+    (Ecu.transmission, 0x18da1ef1, None): [
+      b'28102-5MX-A410\x00\x00', 
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-THR-A220\x00\x00',
+      b'77959-THR-A230\x00\x00',
+      b'77959-THR-A320\x00\x00',
+    ],
+    (Ecu.electricBrakeBooster, 0x18da2bf1, None): [
+      b'46114-THR-A530\x00\x00',
+      b'46114-THR-A540\x00\x00',
+      b'46114-THR-A720\x00\x00',
+    ],
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-THR-A130\x00\x00',
+      b'38897-THR-A320\x00\x00',
+      b'38897-THR-A410\x00\x00',
+    ],
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-THR-A050\x00\x00',
+      b'39990-THR-A110\x00\x00',
+    ],
+  },
   CAR.HONDA_PILOT: {
     (Ecu.shiftByWire, 0x18da0bf1, None): [
       b'54008-TG7-A520\x00\x00',

From f2305efec03171bdb2a7e3780b89df7ea96e9671 Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Wed, 5 Mar 2025 04:56:25 -0500
Subject: [PATCH 04/54] Odyssey_5G_MMR

---
 opendbc/car/honda/hondacan.py | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/opendbc/car/honda/hondacan.py b/opendbc/car/honda/hondacan.py
index 878bdcb62b..b314e568f9 100644
--- a/opendbc/car/honda/hondacan.py
+++ b/opendbc/car/honda/hondacan.py
@@ -44,11 +44,6 @@ def body(self) -> int:
     return self.offset
 
 
-def get_cruise_speed_conversion(car_fingerprint: str, is_metric: bool) -> float:
-  # on certain cars, CRUISE_SPEED changes to imperial with car's unit setting
-  return CV.MPH_TO_MS if car_fingerprint in HONDA_BOSCH_RADARLESS and not is_metric else CV.KPH_TO_MS
-
-
 def create_brake_command(packer, CAN, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, car_fingerprint, stock_brake):
   # TODO: do we loose pressure if we keep pump off for long?
   brakelights = apply_brake > 0

From c3649d1c8baac56ea7034de5def0b0d6901a5109 Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Wed, 5 Mar 2025 04:59:38 -0500
Subject: [PATCH 05/54] Odyssey_5G_MMR

---
 opendbc/car/honda/interface.py | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/opendbc/car/honda/interface.py b/opendbc/car/honda/interface.py
index 5d3830ee75..168c0c4517 100755
--- a/opendbc/car/honda/interface.py
+++ b/opendbc/car/honda/interface.py
@@ -163,6 +163,10 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
       else:
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
 
+    elif candidate == CAR.HONDA_ODYSSEY_5G_MMR:
+      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
+
     elif candidate == CAR.HONDA_PILOT:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
@@ -206,7 +210,7 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
     ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.HONDA_CIVIC})
     ret.minEnableSpeed = -1. if ret.autoResumeSng else 25.51 * CV.MPH_TO_MS
 
-    ret.steerActuatorDelay = 0.1
+    ret.steerActuatorDelay = 0.3 if candidate in (CAR.HONDA_ODYSSEY_5G_MMR) else 0.1
     ret.steerLimitTimer = 0.8
     ret.radarDelay = 0.1
 

From ea4df30c3e942b0ad685030d1af0bb520343df08 Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Wed, 5 Mar 2025 05:05:30 -0500
Subject: [PATCH 06/54] Odyssey_5G_MMR

---
 opendbc/car/honda/values.py | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/opendbc/car/honda/values.py b/opendbc/car/honda/values.py
index 9233f75067..af4b5c1915 100644
--- a/opendbc/car/honda/values.py
+++ b/opendbc/car/honda/values.py
@@ -33,6 +33,7 @@ class CarControllerParams:
 
   BOSCH_GAS_LOOKUP_BP = [-0.2, 2.0]  # 2m/s^2
   BOSCH_GAS_LOOKUP_V = [0, 1600]
+  BOSCH_1000_GAS_LOOKUP_V = [0, 2000]
 
   STEER_STEP = 1  # 100 Hz
   STEER_DELTA_UP = 3  # min/max in 0.33s for all Honda
@@ -180,6 +181,12 @@ class CAR(Platforms):
     {Bus.pt: 'honda_civic_ex_2022_can_generated'},
     flags=HondaFlags.BOSCH_RADARLESS,
   )
+  HONDA_ODYSSEY_5G_MMR = HondaBoschPlatformConfig(
+    [HondaCarDocs("Honda Odyssey 2021-2025", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
+    CarSpecs(mass=4590 * CV.LB_TO_KG, wheelbase=3.00, steerRatio=13.35, centerToFrontRatio=0.54, tireStiffnessFactor=1.02),  # as spec
+    {Bus.pt: 'acura_rdx_2020_can_generated'},
+    flags=HondaFlags.BOSCH_ALT_BRAKE,
+  )
   ACURA_RDX_3G = HondaBoschPlatformConfig(
     [HondaCarDocs("Acura RDX 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
     CarSpecs(mass=4068 * CV.LB_TO_KG, wheelbase=2.75, steerRatio=11.95, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),  # as spec
@@ -314,9 +321,9 @@ class CAR(Platforms):
   # Note that we still attempt to match with them when they are present
   # This is or'd with (ALL_ECUS - ESSENTIAL_ECUS) from fw_versions.py
   non_essential_ecus={
-    Ecu.eps: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_2022, CAR.HONDA_E, CAR.HONDA_HRV_3G],
+    Ecu.eps: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_2022, CAR.HONDA_E, CAR.HONDA_HRV_3G, CAR.HONDA_ODYSSEY_5G_MMR],
     Ecu.vsa: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_2022, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID,
-              CAR.HONDA_E, CAR.HONDA_HRV_3G, CAR.HONDA_INSIGHT],
+              CAR.HONDA_E, CAR.HONDA_HRV_3G, CAR.HONDA_INSIGHT, CAR.HONDA_ODYSSEY_5G_MMR], 
   },
   extra_ecus=[
     (Ecu.combinationMeter, 0x18da60f1, None),

From 151ca418ceefd00e26a8ebe3ddf0f145838e31a9 Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Wed, 5 Mar 2025 05:08:19 -0500
Subject: [PATCH 07/54] Odyssey_5G_MMR

---
 opendbc/car/honda/carcontroller.py | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/opendbc/car/honda/carcontroller.py b/opendbc/car/honda/carcontroller.py
index 2a1b9b27f9..ac2d3fe21c 100644
--- a/opendbc/car/honda/carcontroller.py
+++ b/opendbc/car/honda/carcontroller.py
@@ -206,13 +206,12 @@ def update(self, CC, CS, now_nanos):
         ts = self.frame * DT_CTRL
 
         if self.CP.carFingerprint in HONDA_BOSCH:
+          self.accel = float(np.clip(accel, self.params.BOSCH_ACCEL_MIN, self.params.BOSCH_ACCEL_MAX))
           if self.CP.carFingerprint in HONDA_BOSCH_1000:
-            self.accel = float(np.clip(accel, self.params.BOSCH_1000_ACCEL_MIN, self.params.BOSCH_1000_ACCEL_MAX))
+            self.gas = float(np.interp(accel, self.params.BOSCH_1000_GAS_LOOKUP_BP, self.params.BOSCH_1000_GAS_LOOKUP_V))
           else:
-            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, 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,

From cbc1e03fb305d18127e72c28062b21119d81d72e Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Wed, 5 Mar 2025 05:10:17 -0500
Subject: [PATCH 08/54] Odyssey_5G_MMR

---
 opendbc/car/honda/values.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/opendbc/car/honda/values.py b/opendbc/car/honda/values.py
index af4b5c1915..d0834b6868 100644
--- a/opendbc/car/honda/values.py
+++ b/opendbc/car/honda/values.py
@@ -346,6 +346,7 @@ class CAR(Platforms):
 HONDA_NIDEC_ALT_SCM_MESSAGES = CAR.with_flags(HondaFlags.NIDEC_ALT_SCM_MESSAGES)
 HONDA_BOSCH = CAR.with_flags(HondaFlags.BOSCH)
 HONDA_BOSCH_RADARLESS = CAR.with_flags(HondaFlags.BOSCH_RADARLESS)
+HONDA_BOSCH_1000 = {CAR.HONDA_ODYSSEY_5G_MMR} # overrides for 1000 gas units per m/s accel
 
 
 DBC = CAR.create_dbc_map()

From e2a41e8e52a8c8b1f438b097239d1ffa157d96c4 Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Wed, 5 Mar 2025 05:12:30 -0500
Subject: [PATCH 09/54] Odyssey_5G_MMR

---
 docs/CARS.md | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index d264c5ea95..dc72493394 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -87,7 +87,7 @@
 |Honda|Insight 2019-22|All|[Upstream](#upstream)|
 |Honda|Inspire 2018|All|[Upstream](#upstream)|
 |Honda|Odyssey 2018-20|Honda Sensing|[Upstream](#upstream)|
-|Honda|Odyssey 2021-25|All|[Community](#community)|
+|Honda|Odyssey 2021-25|All|[Upstream](#upstream)|
 |Honda|Passport 2019-23|All|[Upstream](#upstream)|
 |Honda|Pilot 2016-22|Honda Sensing|[Upstream](#upstream)|
 |Honda|Pilot 2023-24|All|[Community](#community)|
@@ -421,4 +421,4 @@ Toyota, and the GM Global B platform.
 All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wiki/CAN_bus) for communication between all the car's computers, however a
 CAN bus isn't the only way that the computers in your car can communicate. Most, if not all, vehicles from the following
 manufacturers use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) instead of a CAN bus: **BMW, Mercedes, Audi, Land Rover, and some Volvo**. These cars
-may one day be supported, but we have no immediate plans to support FlexRay.
\ No newline at end of file
+may one day be supported, but we have no immediate plans to support FlexRay.

From 83f8210e6db7f66e6b1d1429b9f3b7ade9762db7 Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Wed, 5 Mar 2025 05:20:56 -0500
Subject: [PATCH 10/54] Odyssey_5G_MMR

---
 opendbc/car/honda/interface.py | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/opendbc/car/honda/interface.py b/opendbc/car/honda/interface.py
index 168c0c4517..06adacb1e4 100755
--- a/opendbc/car/honda/interface.py
+++ b/opendbc/car/honda/interface.py
@@ -164,7 +164,11 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
 
     elif candidate == CAR.HONDA_ODYSSEY_5G_MMR:
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
+      if not ret.openpilotLongitudinalControl:
+        ret.minSteerSpeed = 70.0 * CV.KPH_TO_MS
+        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
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
 
     elif candidate == CAR.HONDA_PILOT:

From 533ce5862f97fb3e9d42086b5ac75170051b8b87 Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Wed, 5 Mar 2025 05:50:25 -0500
Subject: [PATCH 11/54] Odyssey_5G_MMR

---
 opendbc/car/torque_data/params.toml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/opendbc/car/torque_data/params.toml b/opendbc/car/torque_data/params.toml
index 4bb8d45c53..e0190aa658 100644
--- a/opendbc/car/torque_data/params.toml
+++ b/opendbc/car/torque_data/params.toml
@@ -20,6 +20,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "HONDA_HRV" = [2.0661212805710205, 0.7521343418694775, 0.17760375789242094]
 "HONDA_INSIGHT" = [1.5201671214069354, 0.5660229120683284, 0.25808042580281876]
 "HONDA_ODYSSEY" = [1.8774809275211801, 0.8394431662987996, 0.2096978613792822]
+"HONDA_ODYSSEY_5G_MMR" = [1.6, 0.8394431662987996, 0.226]
 "HONDA_PILOT" = [1.7262026201812795, 0.9470005614967523, 0.21351430733218763]
 "HONDA_RIDGELINE" = [1.4146525028237624, 0.7356572861629564, 0.23307177552211328]
 "HYUNDAI_ELANTRA_2021" = [3.169, 2.1259108157250735, 0.0819]

From 7cad756bc8adeaeae5e7fbe410bcbab1c1a51081 Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Wed, 5 Mar 2025 08:11:22 -0500
Subject: [PATCH 12/54] Odyssey_5G_MMR

---
 opendbc/car/honda/carcontroller.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc/car/honda/carcontroller.py b/opendbc/car/honda/carcontroller.py
index ac2d3fe21c..87c2be968a 100644
--- a/opendbc/car/honda/carcontroller.py
+++ b/opendbc/car/honda/carcontroller.py
@@ -4,7 +4,7 @@
 from opendbc.can.packer import CANPacker
 from opendbc.car import 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.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, HONDA_BOSCH_1000, CarControllerParams
 from opendbc.car.interfaces import CarControllerBase
 
 VisualAlert = structs.CarControl.HUDControl.VisualAlert

From 3c450732a425d12f0a4260e2a5d738a5e98eb814 Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Wed, 5 Mar 2025 18:08:28 -0500
Subject: [PATCH 13/54] Odyssey_5G_MMR

---
 opendbc/car/honda/carstate.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc/car/honda/carstate.py b/opendbc/car/honda/carstate.py
index 5cc96128eb..fe2671f9c9 100644
--- a/opendbc/car/honda/carstate.py
+++ b/opendbc/car/honda/carstate.py
@@ -261,7 +261,7 @@ def update(self, can_parsers) -> structs.CarState:
     ret.cruiseState.available = bool(cp.vl[self.main_on_sig_msg]["MAIN_ON"])
 
     # Adds low speed warning as some models disable cruise at various speeds, ignore warning under 3mph
-    ret.lowSpeedAlert = ret.cruiseState.enabled and ret.vEgo >= 4 * CV.MPH_TO_MS and cp.vl["STEER_STATUS"]["STEER_CONTROL_ACTIVE"] == 0 
+    ret.low_speed_alert = ret.cruiseState.enabled and ret.vEgo >= 4 * CV.MPH_TO_MS and cp.vl["STEER_STATUS"]["STEER_CONTROL_ACTIVE"] == 0 
     
     # Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models
     if self.CP.carFingerprint in (CAR.HONDA_PILOT, CAR.HONDA_RIDGELINE):

From af361684d7c8472449dfd711de4a5a437f62fe57 Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Thu, 6 Mar 2025 18:20:41 -0500
Subject: [PATCH 14/54] Odyssey_5G_MMR

---
 opendbc/car/honda/carcontroller.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/opendbc/car/honda/carcontroller.py b/opendbc/car/honda/carcontroller.py
index 87c2be968a..6db07ea8a1 100644
--- a/opendbc/car/honda/carcontroller.py
+++ b/opendbc/car/honda/carcontroller.py
@@ -4,7 +4,8 @@
 from opendbc.can.packer import CANPacker
 from opendbc.car import 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, HONDA_BOSCH_1000, CarControllerParams
+from opendbc.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, HONDA_BOSCH_1000, \
+  CarControllerParams
 from opendbc.car.interfaces import CarControllerBase
 
 VisualAlert = structs.CarControl.HUDControl.VisualAlert

From daf1be0b730cb9dfe581a6a25327eb16cae5706a Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Thu, 6 Mar 2025 18:23:27 -0500
Subject: [PATCH 15/54] Odyssey_5G_MMR

---
 opendbc/car/honda/carcontroller.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc/car/honda/carcontroller.py b/opendbc/car/honda/carcontroller.py
index 6db07ea8a1..31e6e994dc 100644
--- a/opendbc/car/honda/carcontroller.py
+++ b/opendbc/car/honda/carcontroller.py
@@ -4,6 +4,7 @@
 from opendbc.can.packer import CANPacker
 from opendbc.car import Bus, DT_CTRL, rate_limit, make_tester_present_msg, structs
 from opendbc.car.honda import hondacan
+from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, HONDA_BOSCH_1000, \
   CarControllerParams
 from opendbc.car.interfaces import CarControllerBase
@@ -212,7 +213,6 @@ def update(self, CC, CS, now_nanos):
             self.gas = float(np.interp(accel, self.params.BOSCH_1000_GAS_LOOKUP_BP, self.params.BOSCH_1000_GAS_LOOKUP_V))
           else:
             self.gas = float(np.interp(accel, 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,

From 050292d9b75f422a24b65098cb86d2d38596200e Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Thu, 6 Mar 2025 18:45:47 -0500
Subject: [PATCH 16/54] Odyssey_5G_MMR

---
 opendbc/car/honda/carstate.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/opendbc/car/honda/carstate.py b/opendbc/car/honda/carstate.py
index fe2671f9c9..0a2dd7c48a 100644
--- a/opendbc/car/honda/carstate.py
+++ b/opendbc/car/honda/carstate.py
@@ -141,7 +141,7 @@ def update(self, can_parsers) -> structs.CarState:
       self.is_metric_cruise = self.is_metric
     else:
       self.is_metric_cruise = not acc_hud["IMPERIAL_UNIT"]
-    
+
     # ******************* parse out can *******************
     # STANDSTILL->WHEELS_MOVING bit can be noisy around zero, so use XMISSION_SPEED
     # panda checks if the signal is non-zero
@@ -234,7 +234,7 @@ def update(self, can_parsers) -> structs.CarState:
         ret.cruiseState.nonAdaptive = acc_hud["CRUISE_CONTROL_LABEL"] != 0
         ret.cruiseState.standstill = acc_hud["CRUISE_SPEED"] == 252.
 
-        conversion = CV.KPH_TO_MS if self.is_metric_cruise else CV.MPH_TO_MS 
+        conversion = CV.KPH_TO_MS if self.is_metric_cruise else CV.MPH_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
         self.v_cruise_pcm_prev = ret.cruiseState.speed
@@ -261,8 +261,8 @@ def update(self, can_parsers) -> structs.CarState:
     ret.cruiseState.available = bool(cp.vl[self.main_on_sig_msg]["MAIN_ON"])
 
     # Adds low speed warning as some models disable cruise at various speeds, ignore warning under 3mph
-    ret.low_speed_alert = ret.cruiseState.enabled and ret.vEgo >= 4 * CV.MPH_TO_MS and cp.vl["STEER_STATUS"]["STEER_CONTROL_ACTIVE"] == 0 
-    
+    ret.low_speed_alert = ret.cruiseState.enabled and ret.vEgo >= 4 * CV.MPH_TO_MS and cp.vl["STEER_STATUS"]["STEER_CONTROL_ACTIVE"] == 0
+
     # Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models
     if self.CP.carFingerprint in (CAR.HONDA_PILOT, CAR.HONDA_RIDGELINE):
       if ret.brake > 0.1:

From 08976cb042a4a27e6c05d9b58b58b4f7c78c3bd7 Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Thu, 6 Mar 2025 18:47:29 -0500
Subject: [PATCH 17/54] Odyssey_5G_MMR

---
 opendbc/car/honda/carcontroller.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/opendbc/car/honda/carcontroller.py b/opendbc/car/honda/carcontroller.py
index 31e6e994dc..df822f5efc 100644
--- a/opendbc/car/honda/carcontroller.py
+++ b/opendbc/car/honda/carcontroller.py
@@ -213,6 +213,7 @@ def update(self, CC, CS, now_nanos):
             self.gas = float(np.interp(accel, self.params.BOSCH_1000_GAS_LOOKUP_BP, self.params.BOSCH_1000_GAS_LOOKUP_V))
           else:
             self.gas = float(np.interp(accel, 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,

From 41f033b6e73262d8b204e2964fa5e55670849066 Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Thu, 6 Mar 2025 18:48:38 -0500
Subject: [PATCH 18/54] Odyssey_5G_MMR

---
 opendbc/car/honda/fingerprints.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc/car/honda/fingerprints.py b/opendbc/car/honda/fingerprints.py
index 0eed4e73fd..cbcf044104 100644
--- a/opendbc/car/honda/fingerprints.py
+++ b/opendbc/car/honda/fingerprints.py
@@ -580,7 +580,7 @@
       b'54008-THR-A310\x00\x00',
     ],
     (Ecu.transmission, 0x18da1ef1, None): [
-      b'28102-5MX-A410\x00\x00', 
+      b'28102-5MX-A410\x00\x00',
     ],
     (Ecu.srs, 0x18da53f1, None): [
       b'77959-THR-A220\x00\x00',

From 2ef9394fd5134581a8c42b80eac34e009b8b874a Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Thu, 6 Mar 2025 18:49:17 -0500
Subject: [PATCH 19/54] Odyssey_5G_MMR

---
 opendbc/car/honda/values.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc/car/honda/values.py b/opendbc/car/honda/values.py
index d0834b6868..af67e471cf 100644
--- a/opendbc/car/honda/values.py
+++ b/opendbc/car/honda/values.py
@@ -323,7 +323,7 @@ class CAR(Platforms):
   non_essential_ecus={
     Ecu.eps: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_2022, CAR.HONDA_E, CAR.HONDA_HRV_3G, CAR.HONDA_ODYSSEY_5G_MMR],
     Ecu.vsa: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_2022, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID,
-              CAR.HONDA_E, CAR.HONDA_HRV_3G, CAR.HONDA_INSIGHT, CAR.HONDA_ODYSSEY_5G_MMR], 
+              CAR.HONDA_E, CAR.HONDA_HRV_3G, CAR.HONDA_INSIGHT, CAR.HONDA_ODYSSEY_5G_MMR],
   },
   extra_ecus=[
     (Ecu.combinationMeter, 0x18da60f1, None),

From 8f4fd447ed5634fb9f9f983bbd2366a4ccc75e4b Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Thu, 6 Mar 2025 19:05:02 -0500
Subject: [PATCH 20/54] Odyssey_5G_MMR

---
 opendbc/car/honda/fingerprints.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/opendbc/car/honda/fingerprints.py b/opendbc/car/honda/fingerprints.py
index cbcf044104..f268c2057b 100644
--- a/opendbc/car/honda/fingerprints.py
+++ b/opendbc/car/honda/fingerprints.py
@@ -577,7 +577,6 @@
     ],
     (Ecu.shiftByWire, 0x18da0bf1, None): [
       b'54008-THR-A310\x00\x00',
-      b'54008-THR-A310\x00\x00',
     ],
     (Ecu.transmission, 0x18da1ef1, None): [
       b'28102-5MX-A410\x00\x00',

From cf286491b0367d7c8a65d1ea09cefa7e28e9004b Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Thu, 6 Mar 2025 19:57:17 -0500
Subject: [PATCH 21/54] Odyssey_5G_MMR

---
 opendbc/car/honda/carstate.py | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/opendbc/car/honda/carstate.py b/opendbc/car/honda/carstate.py
index 0a2dd7c48a..fc6e1ad3b8 100644
--- a/opendbc/car/honda/carstate.py
+++ b/opendbc/car/honda/carstate.py
@@ -134,14 +134,6 @@ def update(self, can_parsers) -> structs.CarState:
     # used for car hud message
     self.is_metric = not cp.vl["CAR_SPEED"]["IMPERIAL_UNIT"]
 
-    # is_metric_cruise is used for cruise speed display
-    # ACC_HUD is on camera bus on radarless cars
-    acc_hud = cp_cam.vl["ACC_HUD"] if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS else cp.vl["ACC_HUD"]
-    if acc_hud["CRUISE_SPEED"] >= 253:
-      self.is_metric_cruise = self.is_metric
-    else:
-      self.is_metric_cruise = not acc_hud["IMPERIAL_UNIT"]
-
     # ******************* parse out can *******************
     # STANDSTILL->WHEELS_MOVING bit can be noisy around zero, so use XMISSION_SPEED
     # panda checks if the signal is non-zero
@@ -223,6 +215,14 @@ def update(self, can_parsers) -> structs.CarState:
     ret.steeringTorqueEps = cp.vl["STEER_MOTOR_TORQUE"]["MOTOR_TORQUE"]
     ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD.get(self.CP.carFingerprint, 1200)
 
+    # is_metric_cruise is used for cruise speed display
+    # ACC_HUD is on camera bus on radarless cars
+    acc_hud = cp_cam.vl["ACC_HUD"] if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS else cp.vl["ACC_HUD"]
+    if acc_hud["CRUISE_SPEED"] >= 253:
+      self.is_metric_cruise = self.is_metric
+    else:
+      self.is_metric_cruise = not acc_hud["IMPERIAL_UNIT"]
+    
     if self.CP.carFingerprint in HONDA_BOSCH:
       # The PCM always manages its own cruise control state, but doesn't publish it
       if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:

From 59fb36ebba57cdf73a2df9b39a8d5f94c4f641f7 Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Thu, 6 Mar 2025 20:05:12 -0500
Subject: [PATCH 22/54] Odyssey_5G_MMR

---
 opendbc/car/honda/carstate.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc/car/honda/carstate.py b/opendbc/car/honda/carstate.py
index fc6e1ad3b8..095c26d040 100644
--- a/opendbc/car/honda/carstate.py
+++ b/opendbc/car/honda/carstate.py
@@ -222,7 +222,7 @@ def update(self, can_parsers) -> structs.CarState:
       self.is_metric_cruise = self.is_metric
     else:
       self.is_metric_cruise = not acc_hud["IMPERIAL_UNIT"]
-    
+
     if self.CP.carFingerprint in HONDA_BOSCH:
       # The PCM always manages its own cruise control state, but doesn't publish it
       if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:

From a1c8fbfb93286297feafa5cd739e3218c334774e Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Thu, 6 Mar 2025 20:18:31 -0500
Subject: [PATCH 23/54] Odyssey_5G_MMR

---
 opendbc/car/honda/carstate.py | 9 +++------
 1 file changed, 3 insertions(+), 6 deletions(-)

diff --git a/opendbc/car/honda/carstate.py b/opendbc/car/honda/carstate.py
index 095c26d040..9bb90ea362 100644
--- a/opendbc/car/honda/carstate.py
+++ b/opendbc/car/honda/carstate.py
@@ -215,13 +215,13 @@ def update(self, can_parsers) -> structs.CarState:
     ret.steeringTorqueEps = cp.vl["STEER_MOTOR_TORQUE"]["MOTOR_TORQUE"]
     ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD.get(self.CP.carFingerprint, 1200)
 
-    # is_metric_cruise is used for cruise speed display
     # ACC_HUD is on camera bus on radarless cars
     acc_hud = cp_cam.vl["ACC_HUD"] if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS else cp.vl["ACC_HUD"]
     if acc_hud["CRUISE_SPEED"] >= 253:
-      self.is_metric_cruise = self.is_metric
+      self.is_metric_cruise = self.is_metric  # is_metric_cruise is used for cruise speed display
     else:
       self.is_metric_cruise = not acc_hud["IMPERIAL_UNIT"]
+    conversion = CV.KPH_TO_MS if self.is_metric_cruise else CV.MPH_TO_MS
 
     if self.CP.carFingerprint in HONDA_BOSCH:
       # The PCM always manages its own cruise control state, but doesn't publish it
@@ -229,17 +229,14 @@ def update(self, can_parsers) -> structs.CarState:
         ret.cruiseState.nonAdaptive = cp_cam.vl["ACC_HUD"]["CRUISE_CONTROL_LABEL"] != 0
 
       if not self.CP.openpilotLongitudinalControl:
-        # ACC_HUD is on camera bus on radarless cars
-        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.
 
-        conversion = CV.KPH_TO_MS if self.is_metric_cruise else CV.MPH_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
         self.v_cruise_pcm_prev = ret.cruiseState.speed
     else:
-      ret.cruiseState.speed = cp.vl["CRUISE"]["CRUISE_SPEED_PCM"] * CV.KPH_TO_MS
+      ret.cruiseState.speed = cp.vl["CRUISE"]["CRUISE_SPEED_PCM"] * conversion
 
     if self.CP.flags & HondaFlags.BOSCH_ALT_BRAKE:
       ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0

From a1832e121c2107bddff9165ef8374b8a968ae701 Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Thu, 6 Mar 2025 20:49:42 -0500
Subject: [PATCH 24/54] Odyssey_5G_MMR

---
 opendbc/car/honda/carstate.py | 19 ++++++++++---------
 1 file changed, 10 insertions(+), 9 deletions(-)

diff --git a/opendbc/car/honda/carstate.py b/opendbc/car/honda/carstate.py
index 9bb90ea362..557f753611 100644
--- a/opendbc/car/honda/carstate.py
+++ b/opendbc/car/honda/carstate.py
@@ -215,15 +215,13 @@ def update(self, can_parsers) -> structs.CarState:
     ret.steeringTorqueEps = cp.vl["STEER_MOTOR_TORQUE"]["MOTOR_TORQUE"]
     ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD.get(self.CP.carFingerprint, 1200)
 
-    # ACC_HUD is on camera bus on radarless cars
-    acc_hud = cp_cam.vl["ACC_HUD"] if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS else cp.vl["ACC_HUD"]
-    if acc_hud["CRUISE_SPEED"] >= 253:
-      self.is_metric_cruise = self.is_metric  # is_metric_cruise is used for cruise speed display
-    else:
-      self.is_metric_cruise = not acc_hud["IMPERIAL_UNIT"]
-    conversion = CV.KPH_TO_MS if self.is_metric_cruise else CV.MPH_TO_MS
-
     if self.CP.carFingerprint in HONDA_BOSCH:
+      # ACC_HUD is on camera bus on radarless cars
+      acc_hud = cp_cam.vl["ACC_HUD"] if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS else cp.vl["ACC_HUD"]
+
+      # is_metric_cruise is used for cruise speed display
+      self.is_metric_cruise = self.is_metric if acc_hud["CRUISE_SPEED"] >= 253 else not acc_hud["IMPERIAL_UNIT"]
+      
       # The PCM always manages its own cruise control state, but doesn't publish it
       if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
         ret.cruiseState.nonAdaptive = cp_cam.vl["ACC_HUD"]["CRUISE_CONTROL_LABEL"] != 0
@@ -232,12 +230,15 @@ def update(self, can_parsers) -> structs.CarState:
         ret.cruiseState.nonAdaptive = acc_hud["CRUISE_CONTROL_LABEL"] != 0
         ret.cruiseState.standstill = acc_hud["CRUISE_SPEED"] == 252.
 
+        conversion = CV.KPH_TO_MS if self.is_metric_cruise else CV.MPH_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
         self.v_cruise_pcm_prev = ret.cruiseState.speed
     else:
+      self.is_metric_cruise = self.is_metric  
+      conversion = CV.KPH_TO_MS if self.is_metric_cruise else CV.MPH_TO_MS
       ret.cruiseState.speed = cp.vl["CRUISE"]["CRUISE_SPEED_PCM"] * conversion
-
+    
     if self.CP.flags & HondaFlags.BOSCH_ALT_BRAKE:
       ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0
     else:

From 4c52c919754d22dd6c1175dae18350489d4d792f Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Thu, 6 Mar 2025 20:51:33 -0500
Subject: [PATCH 25/54] Odyssey_5G_MMR

---
 opendbc/car/honda/carstate.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/opendbc/car/honda/carstate.py b/opendbc/car/honda/carstate.py
index 557f753611..e0e75bdae1 100644
--- a/opendbc/car/honda/carstate.py
+++ b/opendbc/car/honda/carstate.py
@@ -221,7 +221,7 @@ def update(self, can_parsers) -> structs.CarState:
 
       # is_metric_cruise is used for cruise speed display
       self.is_metric_cruise = self.is_metric if acc_hud["CRUISE_SPEED"] >= 253 else not acc_hud["IMPERIAL_UNIT"]
-      
+
       # The PCM always manages its own cruise control state, but doesn't publish it
       if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
         ret.cruiseState.nonAdaptive = cp_cam.vl["ACC_HUD"]["CRUISE_CONTROL_LABEL"] != 0
@@ -235,10 +235,10 @@ def update(self, can_parsers) -> structs.CarState:
         ret.cruiseState.speed = self.v_cruise_pcm_prev if acc_hud["CRUISE_SPEED"] > 160.0 else acc_hud["CRUISE_SPEED"] * conversion
         self.v_cruise_pcm_prev = ret.cruiseState.speed
     else:
-      self.is_metric_cruise = self.is_metric  
+      self.is_metric_cruise = self.is_metric
       conversion = CV.KPH_TO_MS if self.is_metric_cruise else CV.MPH_TO_MS
       ret.cruiseState.speed = cp.vl["CRUISE"]["CRUISE_SPEED_PCM"] * conversion
-    
+
     if self.CP.flags & HondaFlags.BOSCH_ALT_BRAKE:
       ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0
     else:

From aec73d8ebf96fa7ddad10835924269598a6dc991 Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Thu, 6 Mar 2025 20:57:39 -0500
Subject: [PATCH 26/54] Odyssey_5G_MMR

---
 opendbc/car/honda/values.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc/car/honda/values.py b/opendbc/car/honda/values.py
index af67e471cf..3db8d5a4f4 100644
--- a/opendbc/car/honda/values.py
+++ b/opendbc/car/honda/values.py
@@ -182,7 +182,7 @@ class CAR(Platforms):
     flags=HondaFlags.BOSCH_RADARLESS,
   )
   HONDA_ODYSSEY_5G_MMR = HondaBoschPlatformConfig(
-    [HondaCarDocs("Honda Odyssey 2021-2025", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
+    [HondaCarDocs("Honda Odyssey 2021-25", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
     CarSpecs(mass=4590 * CV.LB_TO_KG, wheelbase=3.00, steerRatio=13.35, centerToFrontRatio=0.54, tireStiffnessFactor=1.02),  # as spec
     {Bus.pt: 'acura_rdx_2020_can_generated'},
     flags=HondaFlags.BOSCH_ALT_BRAKE,

From d5b4cd01c701a4d2640978e6a5eb0f3334ca32c6 Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Thu, 6 Mar 2025 21:25:39 -0500
Subject: [PATCH 27/54] Odyssey_5G_MMR

---
 opendbc/car/honda/interface.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc/car/honda/interface.py b/opendbc/car/honda/interface.py
index 06adacb1e4..073072fb28 100755
--- a/opendbc/car/honda/interface.py
+++ b/opendbc/car/honda/interface.py
@@ -165,7 +165,7 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
 
     elif candidate == CAR.HONDA_ODYSSEY_5G_MMR:
       if not ret.openpilotLongitudinalControl:
-        ret.minSteerSpeed = 70.0 * CV.KPH_TO_MS
+        ret.minSteerSpeed = 60.0 * CV.KPH_TO_MS # min is 70kph to activate but 60kph to deactive.  Used 60kph to ensure steering is attempted
         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

From 04d649ea80ae99430bba659f43fbbb5c06110434 Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Thu, 6 Mar 2025 21:52:07 -0500
Subject: [PATCH 28/54] Odyssey_5G_MMR

---
 opendbc/car/honda/carstate.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc/car/honda/carstate.py b/opendbc/car/honda/carstate.py
index e0e75bdae1..24815add04 100644
--- a/opendbc/car/honda/carstate.py
+++ b/opendbc/car/honda/carstate.py
@@ -259,7 +259,7 @@ def update(self, can_parsers) -> structs.CarState:
     ret.cruiseState.available = bool(cp.vl[self.main_on_sig_msg]["MAIN_ON"])
 
     # Adds low speed warning as some models disable cruise at various speeds, ignore warning under 3mph
-    ret.low_speed_alert = ret.cruiseState.enabled and ret.vEgo >= 4 * CV.MPH_TO_MS and cp.vl["STEER_STATUS"]["STEER_CONTROL_ACTIVE"] == 0
+    ret.lowSpeedAlert = ret.cruiseState.enabled and ret.vEgo >= 4 * CV.MPH_TO_MS and cp.vl["STEER_STATUS"]["STEER_CONTROL_ACTIVE"] == 0
 
     # Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models
     if self.CP.carFingerprint in (CAR.HONDA_PILOT, CAR.HONDA_RIDGELINE):

From 9a8c3fe29e05f11197eb32b5c88a836b0f355e70 Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Thu, 6 Mar 2025 22:44:06 -0500
Subject: [PATCH 29/54] Odyssey_5G_MMR

---
 opendbc/car/honda/carstate.py | 21 +++++++++++++--------
 1 file changed, 13 insertions(+), 8 deletions(-)

diff --git a/opendbc/car/honda/carstate.py b/opendbc/car/honda/carstate.py
index 24815add04..c2e7f51542 100644
--- a/opendbc/car/honda/carstate.py
+++ b/opendbc/car/honda/carstate.py
@@ -215,18 +215,25 @@ def update(self, can_parsers) -> structs.CarState:
     ret.steeringTorqueEps = cp.vl["STEER_MOTOR_TORQUE"]["MOTOR_TORQUE"]
     ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD.get(self.CP.carFingerprint, 1200)
 
-    if self.CP.carFingerprint in HONDA_BOSCH:
-      # ACC_HUD is on camera bus on radarless cars
-      acc_hud = cp_cam.vl["ACC_HUD"] if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS else cp.vl["ACC_HUD"]
-
-      # is_metric_cruise is used for cruise speed display
-      self.is_metric_cruise = self.is_metric if acc_hud["CRUISE_SPEED"] >= 253 else not acc_hud["IMPERIAL_UNIT"]
+    # is_metric_cruise is used for cruise speed display
+    if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS
+      if "ACC_HUD" in cp_cam.vl:
+        self.is_metric_cruise = self.is_metric if cp_cam.vl["ACC_HUD"]["CRUISE_SPEED"] >= 253 else not cp_cam.vl["ACC_HUD"]["IMPERIAL_UNIT"]
+      else:
+        self.is_metric_cruise = self.is_metric
+    elif "ACC_HUD" in cp.vl:
+      self.is_metric_cruise = self.is_metric if cp.vl["ACC_HUD"]["CRUISE_SPEED"] >= 253 else not cp.vl["ACC_HUD"]["IMPERIAL_UNIT"]
+    else:
+      self.is_metric_cruise = self.is_metric
 
+    if self.CP.carFingerprint in HONDA_BOSCH:
       # The PCM always manages its own cruise control state, but doesn't publish it
       if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
         ret.cruiseState.nonAdaptive = cp_cam.vl["ACC_HUD"]["CRUISE_CONTROL_LABEL"] != 0
 
       if not self.CP.openpilotLongitudinalControl:
+        # ACC_HUD is on camera bus on radarless cars
+        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.
 
@@ -235,8 +242,6 @@ def update(self, can_parsers) -> structs.CarState:
         ret.cruiseState.speed = self.v_cruise_pcm_prev if acc_hud["CRUISE_SPEED"] > 160.0 else acc_hud["CRUISE_SPEED"] * conversion
         self.v_cruise_pcm_prev = ret.cruiseState.speed
     else:
-      self.is_metric_cruise = self.is_metric
-      conversion = CV.KPH_TO_MS if self.is_metric_cruise else CV.MPH_TO_MS
       ret.cruiseState.speed = cp.vl["CRUISE"]["CRUISE_SPEED_PCM"] * conversion
 
     if self.CP.flags & HondaFlags.BOSCH_ALT_BRAKE:

From ef9a4fbb82f9b04dd6cf7f062a46df3f3f0a6975 Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Thu, 6 Mar 2025 22:46:26 -0500
Subject: [PATCH 30/54] Odyssey_5G_MMR

---
 opendbc/car/honda/carstate.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc/car/honda/carstate.py b/opendbc/car/honda/carstate.py
index c2e7f51542..694b92451c 100644
--- a/opendbc/car/honda/carstate.py
+++ b/opendbc/car/honda/carstate.py
@@ -216,7 +216,7 @@ def update(self, can_parsers) -> structs.CarState:
     ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD.get(self.CP.carFingerprint, 1200)
 
     # is_metric_cruise is used for cruise speed display
-    if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS
+    if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
       if "ACC_HUD" in cp_cam.vl:
         self.is_metric_cruise = self.is_metric if cp_cam.vl["ACC_HUD"]["CRUISE_SPEED"] >= 253 else not cp_cam.vl["ACC_HUD"]["IMPERIAL_UNIT"]
       else:

From 67c5f668e5af64ab349b74cd22a0ca4ec998da8d Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Thu, 6 Mar 2025 22:49:47 -0500
Subject: [PATCH 31/54] Odyssey_5G_MMR

---
 opendbc/car/honda/carstate.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/opendbc/car/honda/carstate.py b/opendbc/car/honda/carstate.py
index 694b92451c..7b79cbbed7 100644
--- a/opendbc/car/honda/carstate.py
+++ b/opendbc/car/honda/carstate.py
@@ -225,7 +225,8 @@ def update(self, can_parsers) -> structs.CarState:
       self.is_metric_cruise = self.is_metric if cp.vl["ACC_HUD"]["CRUISE_SPEED"] >= 253 else not cp.vl["ACC_HUD"]["IMPERIAL_UNIT"]
     else:
       self.is_metric_cruise = self.is_metric
-
+    conversion = CV.KPH_TO_MS if self.is_metric_cruise else CV.MPH_TO_MS
+    
     if self.CP.carFingerprint in HONDA_BOSCH:
       # The PCM always manages its own cruise control state, but doesn't publish it
       if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
@@ -237,7 +238,6 @@ def update(self, can_parsers) -> structs.CarState:
         ret.cruiseState.nonAdaptive = acc_hud["CRUISE_CONTROL_LABEL"] != 0
         ret.cruiseState.standstill = acc_hud["CRUISE_SPEED"] == 252.
 
-        conversion = CV.KPH_TO_MS if self.is_metric_cruise else CV.MPH_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
         self.v_cruise_pcm_prev = ret.cruiseState.speed

From 90edcc1336654b84dd6469a82dad362933d755d2 Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Thu, 6 Mar 2025 22:51:24 -0500
Subject: [PATCH 32/54] Odyssey_5G_MMR

---
 opendbc/car/honda/carstate.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc/car/honda/carstate.py b/opendbc/car/honda/carstate.py
index 7b79cbbed7..1da31fcf13 100644
--- a/opendbc/car/honda/carstate.py
+++ b/opendbc/car/honda/carstate.py
@@ -226,7 +226,7 @@ def update(self, can_parsers) -> structs.CarState:
     else:
       self.is_metric_cruise = self.is_metric
     conversion = CV.KPH_TO_MS if self.is_metric_cruise else CV.MPH_TO_MS
-    
+
     if self.CP.carFingerprint in HONDA_BOSCH:
       # The PCM always manages its own cruise control state, but doesn't publish it
       if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:

From 7b878c291fa924abef12781393dc1d5746410ab8 Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Thu, 6 Mar 2025 22:55:23 -0500
Subject: [PATCH 33/54] Odyssey_5G_MMR

---
 opendbc/car/honda/carcontroller.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc/car/honda/carcontroller.py b/opendbc/car/honda/carcontroller.py
index 486ce02e69..e80c95e7c1 100644
--- a/opendbc/car/honda/carcontroller.py
+++ b/opendbc/car/honda/carcontroller.py
@@ -210,7 +210,7 @@ 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))
           if self.CP.carFingerprint in HONDA_BOSCH_1000:
-            self.gas = float(np.interp(accel, self.params.BOSCH_1000_GAS_LOOKUP_BP, self.params.BOSCH_1000_GAS_LOOKUP_V))
+            self.gas = float(np.interp(accel, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_1000_GAS_LOOKUP_V))
           else:
             self.gas = float(np.interp(accel, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V))
 

From a0249c16fb2b921efb6773ed1070f72f1a43b659 Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Thu, 6 Mar 2025 23:13:34 -0500
Subject: [PATCH 34/54] Odyssey_5G_MMR

---
 opendbc/car/tests/routes.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/opendbc/car/tests/routes.py b/opendbc/car/tests/routes.py
index e5267d1df8..1c2dc62092 100644
--- a/opendbc/car/tests/routes.py
+++ b/opendbc/car/tests/routes.py
@@ -97,6 +97,8 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("f29e2b57a55e7ad5|2021-03-24--20-52-38", HONDA.HONDA_ACCORD),  # hybrid, 2021 with new style HUD msgs
   CarTestRoute("1ad763dd22ef1a0e|2020-02-29--18-37-03", HONDA.HONDA_CRV_5G),
   CarTestRoute("0a96f86fcfe35964|2020-02-05--07-25-51", HONDA.HONDA_ODYSSEY),
+  #test below was on older code, just seeing if CI finds more problems before new testdrive, then will replace 
+  CarTestRoute("558ac87ada6a88cd/00000034--54b3407485", HONDA.HONDA_ODYSSEY_5G_MMR), 
   CarTestRoute("d83f36766f8012a5|2020-02-05--18-42-21", HONDA.HONDA_CIVIC_BOSCH_DIESEL),
   CarTestRoute("f0890d16a07a236b|2021-05-25--17-27-22", HONDA.HONDA_INSIGHT),
   CarTestRoute("07d37d27996096b6|2020-03-04--21-57-27", HONDA.HONDA_PILOT),

From 90d6729dccf9fb50cb1ab67d5973bd3c98c2dd3c Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Thu, 6 Mar 2025 23:14:45 -0500
Subject: [PATCH 35/54] Odyssey_5G_MMR

---
 opendbc/car/tests/routes.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/opendbc/car/tests/routes.py b/opendbc/car/tests/routes.py
index 1c2dc62092..82c8ffd4d3 100644
--- a/opendbc/car/tests/routes.py
+++ b/opendbc/car/tests/routes.py
@@ -97,8 +97,8 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("f29e2b57a55e7ad5|2021-03-24--20-52-38", HONDA.HONDA_ACCORD),  # hybrid, 2021 with new style HUD msgs
   CarTestRoute("1ad763dd22ef1a0e|2020-02-29--18-37-03", HONDA.HONDA_CRV_5G),
   CarTestRoute("0a96f86fcfe35964|2020-02-05--07-25-51", HONDA.HONDA_ODYSSEY),
-  #test below was on older code, just seeing if CI finds more problems before new testdrive, then will replace 
-  CarTestRoute("558ac87ada6a88cd/00000034--54b3407485", HONDA.HONDA_ODYSSEY_5G_MMR), 
+  #test below was on older code, just seeing if CI finds more problems before new testdrive, then will replace
+  CarTestRoute("558ac87ada6a88cd/00000034--54b3407485", HONDA.HONDA_ODYSSEY_5G_MMR),
   CarTestRoute("d83f36766f8012a5|2020-02-05--18-42-21", HONDA.HONDA_CIVIC_BOSCH_DIESEL),
   CarTestRoute("f0890d16a07a236b|2021-05-25--17-27-22", HONDA.HONDA_INSIGHT),
   CarTestRoute("07d37d27996096b6|2020-03-04--21-57-27", HONDA.HONDA_PILOT),

From 26ea3430b6042c38d06b26588ebe35dd4a0c7304 Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Sat, 15 Mar 2025 20:01:55 -0400
Subject: [PATCH 36/54] reverting unintentional edit


From 74a4058cb70474b341c216ee08d51e81eaac87cb Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Sat, 15 Mar 2025 20:04:12 -0400
Subject: [PATCH 37/54] Reverting to standard cruise speed conversion logic

---
 opendbc/car/honda/carcontroller.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc/car/honda/carcontroller.py b/opendbc/car/honda/carcontroller.py
index e80c95e7c1..15602371cd 100644
--- a/opendbc/car/honda/carcontroller.py
+++ b/opendbc/car/honda/carcontroller.py
@@ -121,7 +121,7 @@ def __init__(self, dbc_names, CP):
   def update(self, CC, CS, now_nanos):
     actuators = CC.actuators
     hud_control = CC.hudControl
-    conversion = CV.KPH_TO_MS if CS.is_metric_cruise else CV.MPH_TO_MS
+    conversion = hondacan.get_cruise_speed_conversion(self.CP.carFingerprint, CS.is_metric)
     hud_v_cruise = hud_control.setSpeed / conversion if hud_control.speedVisible else 255
     pcm_cancel_cmd = CC.cruiseControl.cancel
 

From 55ace2bfe8a3646cc02998e5a3f66dc80b553f79 Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Sat, 15 Mar 2025 20:08:02 -0400
Subject: [PATCH 38/54] revert Cruise speed conversion

---
 opendbc/car/honda/carstate.py | 24 +++++++-----------------
 1 file changed, 7 insertions(+), 17 deletions(-)

diff --git a/opendbc/car/honda/carstate.py b/opendbc/car/honda/carstate.py
index 1da31fcf13..ec7970c3f7 100644
--- a/opendbc/car/honda/carstate.py
+++ b/opendbc/car/honda/carstate.py
@@ -5,7 +5,7 @@
 from opendbc.can.parser import CANParser
 from opendbc.car import Bus, create_button_events, structs
 from opendbc.car.common.conversions import Conversions as CV
-from opendbc.car.honda.hondacan import CanBus
+from opendbc.car.honda.hondacan import CanBus, get_cruise_speed_conversion
 from opendbc.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, \
                                                  HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, \
                                                  HondaFlags, CruiseButtons, CruiseSettings, GearShifter
@@ -107,8 +107,7 @@ def __init__(self, CP):
     self.brake_switch_active = False
     self.cruise_setting = 0
     self.v_cruise_pcm_prev = 0
-    self.is_metric_cruise = False
-
+    
     # When available we use cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] to populate vEgoCluster
     # However, on cars without a digital speedometer this is not always present (HRV, FIT, CRV 2016, ILX and RDX)
     self.dash_speed_seen = False
@@ -215,18 +214,6 @@ def update(self, can_parsers) -> structs.CarState:
     ret.steeringTorqueEps = cp.vl["STEER_MOTOR_TORQUE"]["MOTOR_TORQUE"]
     ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD.get(self.CP.carFingerprint, 1200)
 
-    # is_metric_cruise is used for cruise speed display
-    if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
-      if "ACC_HUD" in cp_cam.vl:
-        self.is_metric_cruise = self.is_metric if cp_cam.vl["ACC_HUD"]["CRUISE_SPEED"] >= 253 else not cp_cam.vl["ACC_HUD"]["IMPERIAL_UNIT"]
-      else:
-        self.is_metric_cruise = self.is_metric
-    elif "ACC_HUD" in cp.vl:
-      self.is_metric_cruise = self.is_metric if cp.vl["ACC_HUD"]["CRUISE_SPEED"] >= 253 else not cp.vl["ACC_HUD"]["IMPERIAL_UNIT"]
-    else:
-      self.is_metric_cruise = self.is_metric
-    conversion = CV.KPH_TO_MS if self.is_metric_cruise else CV.MPH_TO_MS
-
     if self.CP.carFingerprint in HONDA_BOSCH:
       # The PCM always manages its own cruise control state, but doesn't publish it
       if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
@@ -238,11 +225,12 @@ def update(self, can_parsers) -> structs.CarState:
         ret.cruiseState.nonAdaptive = acc_hud["CRUISE_CONTROL_LABEL"] != 0
         ret.cruiseState.standstill = acc_hud["CRUISE_SPEED"] == 252.
 
+        conversion = get_cruise_speed_conversion(self.CP.carFingerprint, self.is_metric)
         # 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
         self.v_cruise_pcm_prev = ret.cruiseState.speed
     else:
-      ret.cruiseState.speed = cp.vl["CRUISE"]["CRUISE_SPEED_PCM"] * conversion
+      ret.cruiseState.speed = cp.vl["CRUISE"]["CRUISE_SPEED_PCM"] * CV.KPH_TO_MS
 
     if self.CP.flags & HondaFlags.BOSCH_ALT_BRAKE:
       ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0
@@ -264,7 +252,9 @@ def update(self, can_parsers) -> structs.CarState:
     ret.cruiseState.available = bool(cp.vl[self.main_on_sig_msg]["MAIN_ON"])
 
     # Adds low speed warning as some models disable cruise at various speeds, ignore warning under 3mph
-    ret.lowSpeedAlert = ret.cruiseState.enabled and ret.vEgo >= 4 * CV.MPH_TO_MS and cp.vl["STEER_STATUS"]["STEER_CONTROL_ACTIVE"] == 0
+    
+    if self.CP.carFingerprint in (CAR.HONDA_ODYSSEY_5G_MMR):
+      ret.lowSpeedAlert = ret.cruiseState.enabled and ret.vEgo >= 4 * CV.MPH_TO_MS and cp.vl["STEER_STATUS"]["STEER_CONTROL_ACTIVE"] == 0
 
     # Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models
     if self.CP.carFingerprint in (CAR.HONDA_PILOT, CAR.HONDA_RIDGELINE):

From 6df181ca691f1c00698f4401755978231371458b Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Sat, 15 Mar 2025 20:10:17 -0400
Subject: [PATCH 39/54] Revert cruise speed conversion change

---
 opendbc/car/honda/hondacan.py | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/opendbc/car/honda/hondacan.py b/opendbc/car/honda/hondacan.py
index b314e568f9..88229c971d 100644
--- a/opendbc/car/honda/hondacan.py
+++ b/opendbc/car/honda/hondacan.py
@@ -44,6 +44,11 @@ def body(self) -> int:
     return self.offset
 
 
+def get_cruise_speed_conversion(car_fingerprint: str, is_metric: bool) -> float:
+  # on certain cars, CRUISE_SPEED changes to imperial with car's unit setting
+  return CV.MPH_TO_MS if (car_fingerprint in HONDA_BOSCH_RADARLESS or car_fingerprint in CAR.HONDA_ODYSSEY_5G_MMR) and not is_metric else CV.KPH_TO_MS
+
+
 def create_brake_command(packer, CAN, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, car_fingerprint, stock_brake):
   # TODO: do we loose pressure if we keep pump off for long?
   brakelights = apply_brake > 0

From eafbd3fdfbfc46c232c01047a6851aeddf19ecea Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Sat, 15 Mar 2025 20:11:46 -0400
Subject: [PATCH 40/54] Move speed cutoff to 70kph due to user warning

---
 opendbc/car/honda/interface.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc/car/honda/interface.py b/opendbc/car/honda/interface.py
index 073072fb28..d46591ed97 100755
--- a/opendbc/car/honda/interface.py
+++ b/opendbc/car/honda/interface.py
@@ -165,7 +165,7 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
 
     elif candidate == CAR.HONDA_ODYSSEY_5G_MMR:
       if not ret.openpilotLongitudinalControl:
-        ret.minSteerSpeed = 60.0 * CV.KPH_TO_MS # min is 70kph to activate but 60kph to deactive.  Used 60kph to ensure steering is attempted
+        ret.minSteerSpeed = 70.0 * CV.KPH_TO_MS # min is 70kph to activate but 60kph to deactive.  Used 70kph to clarify for warning message
         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

From 830a72c23bf5e1e4f006ca8805afec9cbb6e32f8 Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Sat, 15 Mar 2025 20:13:36 -0400
Subject: [PATCH 41/54] Revert cruise speed conversion change

---
 opendbc/car/honda/carcontroller.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/opendbc/car/honda/carcontroller.py b/opendbc/car/honda/carcontroller.py
index 15602371cd..06599ee6fe 100644
--- a/opendbc/car/honda/carcontroller.py
+++ b/opendbc/car/honda/carcontroller.py
@@ -4,7 +4,6 @@
 from opendbc.can.packer import CANPacker
 from opendbc.car import Bus, DT_CTRL, rate_limit, make_tester_present_msg, structs
 from opendbc.car.honda import hondacan
-from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, HONDA_BOSCH_1000, \
   CarControllerParams
 from opendbc.car.interfaces import CarControllerBase

From 140cc18b3a94d988b735e34741b76db2b0d353c4 Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Sat, 15 Mar 2025 20:15:11 -0400
Subject: [PATCH 42/54] typo fixes

---
 opendbc/car/honda/carstate.py | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/opendbc/car/honda/carstate.py b/opendbc/car/honda/carstate.py
index ec7970c3f7..2bf0f19e8f 100644
--- a/opendbc/car/honda/carstate.py
+++ b/opendbc/car/honda/carstate.py
@@ -107,7 +107,7 @@ def __init__(self, CP):
     self.brake_switch_active = False
     self.cruise_setting = 0
     self.v_cruise_pcm_prev = 0
-    
+
     # When available we use cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] to populate vEgoCluster
     # However, on cars without a digital speedometer this is not always present (HRV, FIT, CRV 2016, ILX and RDX)
     self.dash_speed_seen = False
@@ -252,7 +252,6 @@ def update(self, can_parsers) -> structs.CarState:
     ret.cruiseState.available = bool(cp.vl[self.main_on_sig_msg]["MAIN_ON"])
 
     # Adds low speed warning as some models disable cruise at various speeds, ignore warning under 3mph
-    
     if self.CP.carFingerprint in (CAR.HONDA_ODYSSEY_5G_MMR):
       ret.lowSpeedAlert = ret.cruiseState.enabled and ret.vEgo >= 4 * CV.MPH_TO_MS and cp.vl["STEER_STATUS"]["STEER_CONTROL_ACTIVE"] == 0
 

From 1371a22d3f0886ec97ecb245c5b023b3eb5bf26e Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Sun, 16 Mar 2025 11:25:11 -0400
Subject: [PATCH 43/54] tuning_updates

---
 opendbc/car/honda/values.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc/car/honda/values.py b/opendbc/car/honda/values.py
index 3db8d5a4f4..5aa68b6fd4 100644
--- a/opendbc/car/honda/values.py
+++ b/opendbc/car/honda/values.py
@@ -183,7 +183,7 @@ class CAR(Platforms):
   )
   HONDA_ODYSSEY_5G_MMR = HondaBoschPlatformConfig(
     [HondaCarDocs("Honda Odyssey 2021-25", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
-    CarSpecs(mass=4590 * CV.LB_TO_KG, wheelbase=3.00, steerRatio=13.35, centerToFrontRatio=0.54, tireStiffnessFactor=1.02),  # as spec
+    CarSpecs(mass=4590 * CV.LB_TO_KG, wheelbase=3.00, steerRatio=19.5, centerToFrontRatio=0.54, tireStiffnessFactor=1.18),  # per spec + plotjuggler
     {Bus.pt: 'acura_rdx_2020_can_generated'},
     flags=HondaFlags.BOSCH_ALT_BRAKE,
   )

From 5707b55bb1f4b668b65b0337515a962f6eaf8f7f Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Sun, 16 Mar 2025 11:51:25 -0400
Subject: [PATCH 44/54] removing lowspeed warning when driver is actively
 driving

---
 opendbc/car/honda/carstate.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc/car/honda/carstate.py b/opendbc/car/honda/carstate.py
index 2bf0f19e8f..a28b3cbd07 100644
--- a/opendbc/car/honda/carstate.py
+++ b/opendbc/car/honda/carstate.py
@@ -253,7 +253,7 @@ def update(self, can_parsers) -> structs.CarState:
 
     # Adds low speed warning as some models disable cruise at various speeds, ignore warning under 3mph
     if self.CP.carFingerprint in (CAR.HONDA_ODYSSEY_5G_MMR):
-      ret.lowSpeedAlert = ret.cruiseState.enabled and ret.vEgo >= 4 * CV.MPH_TO_MS and cp.vl["STEER_STATUS"]["STEER_CONTROL_ACTIVE"] == 0
+      ret.lowSpeedAlert = ret.cruiseState.enabled and ret.vEgo >= 4 * CV.MPH_TO_MS and cp.vl["STEER_STATUS"]["STEER_CONTROL_ACTIVE"] == 0 and ret.steeringPressed == False
 
     # Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models
     if self.CP.carFingerprint in (CAR.HONDA_PILOT, CAR.HONDA_RIDGELINE):

From c86a17772ff00417e6979861b6d3d55512e3557d Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Sun, 16 Mar 2025 11:52:27 -0400
Subject: [PATCH 45/54] typo fix

---
 opendbc/car/honda/carstate.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc/car/honda/carstate.py b/opendbc/car/honda/carstate.py
index a28b3cbd07..ef18cd0501 100644
--- a/opendbc/car/honda/carstate.py
+++ b/opendbc/car/honda/carstate.py
@@ -253,7 +253,7 @@ def update(self, can_parsers) -> structs.CarState:
 
     # Adds low speed warning as some models disable cruise at various speeds, ignore warning under 3mph
     if self.CP.carFingerprint in (CAR.HONDA_ODYSSEY_5G_MMR):
-      ret.lowSpeedAlert = ret.cruiseState.enabled and ret.vEgo >= 4 * CV.MPH_TO_MS and cp.vl["STEER_STATUS"]["STEER_CONTROL_ACTIVE"] == 0 and ret.steeringPressed == False
+      ret.lowSpeedAlert = ret.cruiseState.enabled and ret.vEgo >= 4 * CV.MPH_TO_MS and cp.vl["STEER_STATUS"]["STEER_CONTROL_ACTIVE"] == 0 and not ret.steeringPressed
 
     # Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models
     if self.CP.carFingerprint in (CAR.HONDA_PILOT, CAR.HONDA_RIDGELINE):

From 1dee6b7914e531a4c8342591963f29a590311a34 Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Sun, 16 Mar 2025 11:53:40 -0400
Subject: [PATCH 46/54] formatting

---
 opendbc/car/honda/carstate.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/opendbc/car/honda/carstate.py b/opendbc/car/honda/carstate.py
index ef18cd0501..30d2f55f74 100644
--- a/opendbc/car/honda/carstate.py
+++ b/opendbc/car/honda/carstate.py
@@ -253,7 +253,8 @@ def update(self, can_parsers) -> structs.CarState:
 
     # Adds low speed warning as some models disable cruise at various speeds, ignore warning under 3mph
     if self.CP.carFingerprint in (CAR.HONDA_ODYSSEY_5G_MMR):
-      ret.lowSpeedAlert = ret.cruiseState.enabled and ret.vEgo >= 4 * CV.MPH_TO_MS and cp.vl["STEER_STATUS"]["STEER_CONTROL_ACTIVE"] == 0 and not ret.steeringPressed
+      ret.lowSpeedAlert = ret.cruiseState.enabled and ret.vEgo >= 4 * CV.MPH_TO_MS and \
+        cp.vl["STEER_STATUS"]["STEER_CONTROL_ACTIVE"] == 0 and not ret.steeringPressed
 
     # Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models
     if self.CP.carFingerprint in (CAR.HONDA_PILOT, CAR.HONDA_RIDGELINE):

From 14f268a7e63e9be4d6832eaf9f8e2226431f3f0d Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Sun, 16 Mar 2025 14:20:27 -0400
Subject: [PATCH 47/54] formatting


From 4b6a9844707feedd96d077569360edf7be4f7a78 Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Sun, 16 Mar 2025 14:22:02 -0400
Subject: [PATCH 48/54] Update CARS.md

---
 docs/CARS.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index dc72493394..d7e4a79577 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -87,7 +87,7 @@
 |Honda|Insight 2019-22|All|[Upstream](#upstream)|
 |Honda|Inspire 2018|All|[Upstream](#upstream)|
 |Honda|Odyssey 2018-20|Honda Sensing|[Upstream](#upstream)|
-|Honda|Odyssey 2021-25|All|[Upstream](#upstream)|
+|Honda|Odysseya 2021-25|All|[Upstream](#upstream)|
 |Honda|Passport 2019-23|All|[Upstream](#upstream)|
 |Honda|Pilot 2016-22|Honda Sensing|[Upstream](#upstream)|
 |Honda|Pilot 2023-24|All|[Community](#community)|

From da162193f8b4639b3be452c862bdd71e0ede6e81 Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Sun, 16 Mar 2025 14:22:37 -0400
Subject: [PATCH 49/54] formatting

---
 docs/CARS.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index d7e4a79577..dc72493394 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -87,7 +87,7 @@
 |Honda|Insight 2019-22|All|[Upstream](#upstream)|
 |Honda|Inspire 2018|All|[Upstream](#upstream)|
 |Honda|Odyssey 2018-20|Honda Sensing|[Upstream](#upstream)|
-|Honda|Odysseya 2021-25|All|[Upstream](#upstream)|
+|Honda|Odyssey 2021-25|All|[Upstream](#upstream)|
 |Honda|Passport 2019-23|All|[Upstream](#upstream)|
 |Honda|Pilot 2016-22|Honda Sensing|[Upstream](#upstream)|
 |Honda|Pilot 2023-24|All|[Community](#community)|

From 960cd4cb18d9169bb4b2ff86e8b0107117ec5298 Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Sun, 16 Mar 2025 22:41:36 -0400
Subject: [PATCH 50/54] Tuning

---
 opendbc/car/torque_data/params.toml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc/car/torque_data/params.toml b/opendbc/car/torque_data/params.toml
index e0190aa658..8184685cfb 100644
--- a/opendbc/car/torque_data/params.toml
+++ b/opendbc/car/torque_data/params.toml
@@ -20,7 +20,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "HONDA_HRV" = [2.0661212805710205, 0.7521343418694775, 0.17760375789242094]
 "HONDA_INSIGHT" = [1.5201671214069354, 0.5660229120683284, 0.25808042580281876]
 "HONDA_ODYSSEY" = [1.8774809275211801, 0.8394431662987996, 0.2096978613792822]
-"HONDA_ODYSSEY_5G_MMR" = [1.6, 0.8394431662987996, 0.226]
+"HONDA_ODYSSEY_5G_MMR" = [1.51, 0.33874701282109954, 0.226]
 "HONDA_PILOT" = [1.7262026201812795, 0.9470005614967523, 0.21351430733218763]
 "HONDA_RIDGELINE" = [1.4146525028237624, 0.7356572861629564, 0.23307177552211328]
 "HYUNDAI_ELANTRA_2021" = [3.169, 2.1259108157250735, 0.0819]

From a5e59897c70739db9fd1a044892b900ec75df1cb Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Sun, 16 Mar 2025 22:42:46 -0400
Subject: [PATCH 51/54] tuning

---
 opendbc/car/honda/values.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc/car/honda/values.py b/opendbc/car/honda/values.py
index 5aa68b6fd4..18d13e27c2 100644
--- a/opendbc/car/honda/values.py
+++ b/opendbc/car/honda/values.py
@@ -183,7 +183,7 @@ class CAR(Platforms):
   )
   HONDA_ODYSSEY_5G_MMR = HondaBoschPlatformConfig(
     [HondaCarDocs("Honda Odyssey 2021-25", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
-    CarSpecs(mass=4590 * CV.LB_TO_KG, wheelbase=3.00, steerRatio=19.5, centerToFrontRatio=0.54, tireStiffnessFactor=1.18),  # per spec + plotjuggler
+    CarSpecs(mass=4590 * CV.LB_TO_KG, wheelbase=3.00, steerRatio=19.4, centerToFrontRatio=0.54, tireStiffnessFactor=1.02),  # per spec + plotjuggler
     {Bus.pt: 'acura_rdx_2020_can_generated'},
     flags=HondaFlags.BOSCH_ALT_BRAKE,
   )

From 9c3d91eb7f4acd675682f15a5105f1eded0109dc Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Mon, 24 Mar 2025 08:18:10 -0400
Subject: [PATCH 52/54] Centertofront - match earlier Odyssey

---
 opendbc/car/honda/values.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc/car/honda/values.py b/opendbc/car/honda/values.py
index 18d13e27c2..4df6d10b60 100644
--- a/opendbc/car/honda/values.py
+++ b/opendbc/car/honda/values.py
@@ -183,7 +183,7 @@ class CAR(Platforms):
   )
   HONDA_ODYSSEY_5G_MMR = HondaBoschPlatformConfig(
     [HondaCarDocs("Honda Odyssey 2021-25", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
-    CarSpecs(mass=4590 * CV.LB_TO_KG, wheelbase=3.00, steerRatio=19.4, centerToFrontRatio=0.54, tireStiffnessFactor=1.02),  # per spec + plotjuggler
+    CarSpecs(mass=4590 * CV.LB_TO_KG, wheelbase=3.00, steerRatio=19.4, centerToFrontRatio=0.41, tireStiffnessFactor=1.02),  # per spec + plotjuggler
     {Bus.pt: 'acura_rdx_2020_can_generated'},
     flags=HondaFlags.BOSCH_ALT_BRAKE,
   )

From 9c5f6cf145d34d33f35337f2ac2fdf7a7c51de7e Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Mon, 24 Mar 2025 08:19:24 -0400
Subject: [PATCH 53/54] Adding new route

---
 opendbc/car/tests/routes.py | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/opendbc/car/tests/routes.py b/opendbc/car/tests/routes.py
index 6a011e54ad..4aab2cbcce 100644
--- a/opendbc/car/tests/routes.py
+++ b/opendbc/car/tests/routes.py
@@ -97,8 +97,7 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("f29e2b57a55e7ad5|2021-03-24--20-52-38", HONDA.HONDA_ACCORD),  # hybrid, 2021 with new style HUD msgs
   CarTestRoute("1ad763dd22ef1a0e|2020-02-29--18-37-03", HONDA.HONDA_CRV_5G),
   CarTestRoute("0a96f86fcfe35964|2020-02-05--07-25-51", HONDA.HONDA_ODYSSEY),
-  #test below was on older code, just seeing if CI finds more problems before new testdrive, then will replace
-  CarTestRoute("558ac87ada6a88cd/00000034--54b3407485", HONDA.HONDA_ODYSSEY_5G_MMR),
+  CarTestRoute("558ac87ada6a88cd/0000005b--0d40d84bb6", HONDA.HONDA_ODYSSEY_5G_MMR),
   CarTestRoute("d83f36766f8012a5|2020-02-05--18-42-21", HONDA.HONDA_CIVIC_BOSCH_DIESEL),
   CarTestRoute("f0890d16a07a236b|2021-05-25--17-27-22", HONDA.HONDA_INSIGHT),
   CarTestRoute("07d37d27996096b6|2020-03-04--21-57-27", HONDA.HONDA_PILOT),

From a3c45f1499990e797f017051e328c4837500b77a Mon Sep 17 00:00:00 2001
From: mvl-boston <manuel@alumni.virginia.edu>
Date: Thu, 27 Mar 2025 13:40:55 -0400
Subject: [PATCH 54/54] Upgrading Odyssey support to upstream

---
 docs/CARS.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index a3308d80c8..0cc8e6ead7 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -87,7 +87,7 @@
 |Honda|Insight 2019-22|All|[Upstream](#upstream)|
 |Honda|Inspire 2018|All|[Upstream](#upstream)|
 |Honda|Odyssey 2018-20|Honda Sensing|[Upstream](#upstream)|
-|Honda|Odyssey 2021-25|All|[Community](#community)|
+|Honda|Odyssey 2021-25|All|[Upstream](#upstream)|
 |Honda|Passport 2019-25|All|[Upstream](#upstream)|
 |Honda|Pilot 2016-22|Honda Sensing|[Upstream](#upstream)|
 |Honda|Pilot 2023-24|All|[Community](#community)|