Honda: Odyssey 2021-25 (dashcam only)

selfdrive/car/car_specific.py

@@ -88,6 +88,23 @@ def update(self, CS: CarStateBase, CS_prev: car.CarState, CC_prev: car.CarContro
  if self.CP.minEnableSpeed > 0 and CS.out.vEgo < 0.001:
  events.add(EventName.manualRestart)
 
+ # Low speed steer alert logic; for cars with steer cut off above 6 m/s
+ # Show the alert earlier when slowing. Must first exceed a greater speed while engaged.
+ if CS.out.vEgo > (self.CP.minSteerSpeed + 3.5):
+ CS.min_steer_alert_speed = (self.CP.minSteerSpeed + 1.5)
+ elif CS.out.vEgo <= self.CP.minSteerSpeed or not CC_prev.enabled:
+ CS.min_steer_alert_speed = self.CP.minSteerSpeed
+ self.low_speed_alert = (0 < CS.out.vEgo <= CS.min_steer_alert_speed) and self.CP.minSteerSpeed > 6.0
+ if self.low_speed_alert:
+ events.add(EventName.belowSteerSpeed)
+
+ # Some cars forcibly disengage steering depending on vehicle conditions (i.e. some Odyssey Bosch & late model Acura RDX 3G).
+ # carState sets the steerFaultTemporary flag if controls are on and steering has not engaged within 1 second.
+ if CC_prev.latActive and not CS.steer_on: # type: ignore[attr-defined]
+ CS.steer_off_cnt += 1 # type: ignore[attr-defined]
+ else:
+ CS.steer_off_cnt = 0 # type: ignore[attr-defined]
+
  elif self.CP.carName == 'toyota':
  events = self.create_common_events(CS.out, CS_prev)