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Honda - clear startup Bosch faults #474

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Honda - clear startup Bosch faults #474

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81fbb8a
allow 10 seconds for startup cruisefaults to clear
mvl-boston Jan 9, 2026
ee4b243
Merge branch 'master' into bosch-faultclear
elkoled Jan 20, 2026
a39969a
Merge branch 'master' into bosch-faultclear
elkoled Jan 21, 2026
a9436cf
Merge branch 'master' into bosch-faultclear
elkoled Feb 2, 2026
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17 changes: 16 additions & 1 deletion opendbc/car/honda/carstate.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
from collections import defaultdict

from opendbc.can import CANDefine, CANParser
from opendbc.car import Bus, create_button_events, structs
from opendbc.car import Bus, create_button_events, structs, DT_CTRL
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.honda.hondacan import CanBus
from opendbc.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, HONDA_BOSCH_ALT_RADAR, HONDA_BOSCH_CANFD, \
Expand Down Expand Up @@ -51,6 +51,9 @@ def __init__(self, CP):
self.is_metric = False
self.v_cruise_factor = 1.

self.initial_accFault_cleared = False
self.initial_accFault_cleared_timer = int(10 / DT_CTRL) # 10 seconds after startup for initial faults to clear

def update(self, can_parsers) -> structs.CarState:
cp = can_parsers[Bus.pt]
cp_cam = can_parsers[Bus.cam]
Expand Down Expand Up @@ -191,6 +194,18 @@ def update(self, can_parsers) -> structs.CarState:
ret.cruiseState.enabled = cp.vl["POWERTRAIN_DATA"]["ACC_STATUS"] != 0
ret.cruiseState.available = bool(cp.vl[self.car_state_scm_msg]["MAIN_ON"])

# Bosch cars take a few minutes after startup to clear prior faults
if ret.accFaulted:
if (self.CP.carFingerprint in HONDA_BOSCH) and not self.initial_accFault_cleared:
# block via cruiseState since accFaulted is not reversible until offroad
ret.accFaulted = False
ret.cruiseState.available = False
elif self.initial_accFault_cleared_timer == 0:
self.initial_accFault_cleared = True

if self.initial_accFault_cleared_timer > 0:
self.initial_accFault_cleared_timer -= 1

# 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:
Expand Down