commaai · mvl-boston · Apr 24, 2025 · Apr 30, 2025 · Apr 30, 2025 · Apr 30, 2025
diff --git a/opendbc/car/extra_cars.py b/opendbc/car/extra_cars.py
@@ -41,7 +41,7 @@ class CAR(Platforms):
       CommunityCarDocs("Acura MDX 2015-16", "Advance Package"),
       CommunityCarDocs("Acura MDX 2017-20", "All"),
       CommunityCarDocs("Acura MDX 2022-24", "All"),
-      CommunityCarDocs("Acura RDX 2022-25", "All"),
+      CommunityCarDocs("Acura RDX 2025", "All"),
       CommunityCarDocs("Acura RLX 2017", "Advance Package or Technology Package"),
       CommunityCarDocs("Acura TLX 2015-17", "Advance Package"),
       CommunityCarDocs("Acura TLX 2018-20", "All"),

diff --git a/opendbc/car/honda/fingerprints.py b/opendbc/car/honda/fingerprints.py
@@ -762,6 +762,36 @@
       b'39990-TJB-A130\x00\x00',
     ],
   },
+  # mid-model refresh
+  CAR.ACURA_RDX_3G_MMR: {
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-TJB-A120\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36802-TJB-A540\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x18dab5f1, None): [
+      b'36161-TJB-A530\x00\x00',
+    ],
+    (Ecu.shiftByWire, 0x18da0bf1, None): [
+      b'54008-TJB-A530\x00\x00',
+    ],
+    (Ecu.transmission, 0x18da1ef1, None): [
+      b'28102-5YK-A800\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-TJB-A120\x00\x00',
+    ],
+    (Ecu.electricBrakeBooster, 0x18da2bf1, None): [
+      b'46114-TJB-A120\x00\x00',
+    ],
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-TJB-A220\x00\x00',
+    ],
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TJB-A070\x00\x00',
+    ],
+  },
   CAR.HONDA_RIDGELINE: {
     (Ecu.eps, 0x18da30f1, None): [
       b'39990-T6Z-A020\x00\x00',

diff --git a/opendbc/car/honda/interface.py b/opendbc/car/honda/interface.py
@@ -194,6 +194,9 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_lo
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
+    if candidate == CAR.ACURA_RDX_3G_MMR:
+      CarControllerParams.BOSCH_GAS_LOOKUP_V = [0, 2000] # alpha longitudinal pedal tuning
+
     # These cars use alternate user brake msg (0x1BE)
     if 0x1BE in fingerprint[CAN.pt] and candidate in (CAR.HONDA_ACCORD, CAR.HONDA_HRV_3G, *HONDA_BOSCH_CANFD):
       ret.flags |= HondaFlags.BOSCH_ALT_BRAKE.value

diff --git a/opendbc/car/honda/values.py b/opendbc/car/honda/values.py
@@ -242,6 +242,12 @@ class CAR(Platforms):
     {Bus.pt: 'acura_rdx_2020_can_generated'},
     flags=HondaFlags.BOSCH_ALT_BRAKE,
   )
+  ACURA_RDX_3G_MMR = HondaBoschPlatformConfig(
+    [HondaCarDocs("Acura RDX 2022-24", "All", min_steer_speed=70. * CV.KPH_TO_MS)],
+    CarSpecs(mass=4079 * CV.LB_TO_KG, wheelbase=2.75, centerToFrontRatio=0.41, steerRatio=16.2),
+    {Bus.pt: 'acura_rdx_2020_can_generated'},
+    flags=HondaFlags.BOSCH_ALT_BRAKE | HondaFlags.BOSCH_ALT_RADAR,
+  )
   HONDA_INSIGHT = HondaBoschPlatformConfig(
     [HondaCarDocs("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
     CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.0, centerToFrontRatio=0.39, tireStiffnessFactor=0.82),  # as spec

diff --git a/opendbc/car/tests/routes.py b/opendbc/car/tests/routes.py
@@ -110,6 +110,7 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("684e8f96bd491a0e/2021-11-03--11-08-42", HONDA.HONDA_PILOT),  # Passport
   CarTestRoute("0a78dfbacc8504ef/2020-03-04--13-29-55", HONDA.HONDA_CIVIC_BOSCH),
   CarTestRoute("f34a60d68d83b1e5/2020-10-06--14-35-55", HONDA.ACURA_RDX),
+  CarTestRoute("0416c2843c0bfc91/0000001d--59c7744d87", HONDA.ACURA_RDX_3G_MMR),
   CarTestRoute("54fd8451b3974762/2021-04-01--14-50-10", HONDA.HONDA_RIDGELINE),
   CarTestRoute("2d5808fae0b38ac6/2021-09-01--17-14-11", HONDA.HONDA_E),
   CarTestRoute("f44aa96ace22f34a/2021-12-22--06-22-31", HONDA.HONDA_CIVIC_2022),

diff --git a/opendbc/car/torque_data/override.toml b/opendbc/car/torque_data/override.toml
@@ -92,6 +92,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "HONDA_NBOX_2G" = [1.2, 1.2, 0.2]
 "ACURA_TLX_2G" = [1.2, 1.2, 0.15]
 "PORSCHE_MACAN_MK1" = [2.0, 2.0, 0.2]
+"ACURA_RDX_3G_MMR" = [1.5, 1.5, 0.16]
 
 # Dashcam or fallback configured as ideal car
 "MOCK" = [10.0, 10, 0.0]