Complete Ford test identities and pinion setting description

opendbc_repo/opendbc/car/ford/tests/test_explorer_lateral.py

@@ -1,5 +1,6 @@
 """Explorer fixed preview must not broaden the admitted Mach-E strategy."""
 from types import SimpleNamespace
+from opendbc.car.ford.interface import CarInterface
 
 import pytest
 
@@ -7,6 +8,11 @@ from opendbc.car.ford.explorer_lateral import ExplorerLateralController
 from opendbc.car.ford.mache_lateral import MachELateralController
 from opendbc.car.ford.values import CAR, CarControllerParams, FordFlags
 
+def controller_params(car, flags):
+  cp = CarInterface.get_non_essential_params(car)
+  return SimpleNamespace(brand=cp.brand, safetyConfigs=cp.safetyConfigs, carFingerprint=car, flags=flags)
+
+
 
 def model():
   return SimpleNamespace(orientationRate=SimpleNamespace(z=[i * 0.01 for i in range(33)]))
@@ -14,14 +20,14 @@ def model():
 
 @pytest.mark.parametrize("delay", (0.20, 0.30, 0.40))
 def test_explorer_fixed_lookahead_selects_original_model_sample(delay):
-  owner = ExplorerLateralController(SimpleNamespace(carFingerprint=CAR.FORD_EXPLORER_MK6, flags=0))
+  owner = ExplorerLateralController(controller_params(CAR.FORD_EXPLORER_MK6, 0))
   owner.set_inputs(model(), tuple(i * 0.1 for i in range(33)), delay, True)
   assert owner._curvature_lookahead() == 0.20
   assert owner._predicted_curvature(10.0, owner._curvature_lookahead()) == pytest.approx(0.002)
 
 
 def test_mach_e_compatibility_keeps_current_provider_lookahead():
-  owner = MachELateralController(SimpleNamespace(carFingerprint=CAR.FORD_MUSTANG_MACH_E_MK1, flags=FordFlags.CANFD))
+  owner = MachELateralController(controller_params(CAR.FORD_MUSTANG_MACH_E_MK1, FordFlags.CANFD))
   owner.set_inputs(model(), tuple(i * 0.1 for i in range(33)), 0.40, True)
   assert owner._curvature_lookahead() == 0.40
   assert owner._predicted_curvature(10.0, owner._curvature_lookahead()) == pytest.approx(0.004)
@@ -31,7 +37,7 @@ def test_explorer_strategy_rejects_unrelated_topology():
   for car, flags in ((CAR.FORD_EXPLORER_MK6, FordFlags.CANFD),
                      (CAR.FORD_EDGE_MK2, FordFlags.ALT_STEER_ANGLE | FordFlags.NEW_PORT)):
     with pytest.raises(ValueError):
-      ExplorerLateralController(SimpleNamespace(carFingerprint=car, flags=flags))
+      ExplorerLateralController(controller_params(car, flags))
 
 
 @pytest.mark.parametrize("alpha,release", ((False, False), (True, False), (False, True), (True, True)))
@@ -59,7 +65,7 @@ def test_actual_interface_restores_explicit_longitudinal_ownership(alpha, releas
 def test_classic_modern_envelope_withdraws_infeasible_speed_transition():
   from opendbc.car.ford.explorer_lateral import bounded_command
   from opendbc.car.ford.lateral_strategy import FordLateralResult
-  owner = ExplorerLateralController(SimpleNamespace(carFingerprint=CAR.FORD_EXPLORER_MK6, flags=0))
+  owner = ExplorerLateralController(controller_params(CAR.FORD_EXPLORER_MK6, 0))
   result = bounded_command(owner, FordLateralResult(curvature=.02, active=True), .02, 20., .02)
   assert not result.active
   assert result.curvature == owner.curvature_last == 0.
@@ -69,7 +75,7 @@ def test_classic_modern_envelope_withdraws_infeasible_speed_transition():
 def test_manual_turn_withdraws_without_mach_e_latch_or_gain_compensation():
   from opendbc.car.ford.explorer_lateral import bounded_command
   from opendbc.car.ford.lateral_strategy import FordLateralResult
-  owner = ExplorerLateralController(SimpleNamespace(carFingerprint=CAR.FORD_EXPLORER_MK6, flags=0))
+  owner = ExplorerLateralController(controller_params(CAR.FORD_EXPLORER_MK6, 0))
   owner.manual_turn_detected = True
   result = bounded_command(owner, FordLateralResult(active=True), .002, 10., .002)
   assert not result.active
@@ -80,7 +86,7 @@ def test_manual_turn_withdraws_without_mach_e_latch_or_gain_compensation():
 def test_speed_change_cap_cannot_escape_original_rate_interval():
   from opendbc.car.ford.explorer_lateral import bounded_command
   from opendbc.car.ford.lateral_strategy import FordLateralResult
-  owner = ExplorerLateralController(SimpleNamespace(carFingerprint=CAR.FORD_EXPLORER_MK6, flags=0))
+  owner = ExplorerLateralController(controller_params(CAR.FORD_EXPLORER_MK6, 0))
   # At26m/s modernjerk admits~.000265, originalnative lookup only.000180.
   # Modern bank-tolerant cap~.005309 requires.000211 fromprevious.005520.
   result = bounded_command(owner, FordLateralResult(curvature=.00552, active=True), .00552, 26., .00552)
@@ -131,7 +137,7 @@ def test_typed_offset_eps_and_namespace_guards():
 def test_final_intersection_preserves_source_rise_and_unwind(sign):
   from opendbc.car.ford.explorer_lateral import bounded_command
   from opendbc.car.ford.lateral_strategy import FordLateralResult
-  owner = ExplorerLateralController(SimpleNamespace(carFingerprint=CAR.FORD_EXPLORER_MK6, flags=0))
+  owner = ExplorerLateralController(controller_params(CAR.FORD_EXPLORER_MK6, 0))
   rise = bounded_command(owner, FordLateralResult(curvature=sign*.0015, active=True), sign*.001, 26., sign*.001)
   assert rise.curvature == pytest.approx(sign*.00108)
   fall = bounded_command(owner, FordLateralResult(curvature=0., active=True), sign*.001, 26., sign*.001)
@@ -158,7 +164,7 @@ def test_classic_rate_endpoint_has_correct_decoded_sign(rate, expected):
 def test_measured_recovery_with_empty_source_interval_withdraws(sign):
   from opendbc.car.ford.explorer_lateral import bounded_command
   from opendbc.car.ford.lateral_strategy import FordLateralResult
-  owner = ExplorerLateralController(SimpleNamespace(carFingerprint=CAR.FORD_EXPLORER_MK6, flags=0))
+  owner = ExplorerLateralController(controller_params(CAR.FORD_EXPLORER_MK6, 0))
   command = bounded_command(owner, FordLateralResult(curvature=sign*.008, active=True), 0., 35., sign*.008)
   assert not command.active and command.curvature == 0.
   assert owner.curvature_last == owner.path_angle_last == 0.
@@ -168,7 +174,7 @@ def test_measured_recovery_with_empty_source_interval_withdraws(sign):
 def test_measured_window_requires_recovery_and_bounds_unwind(sign):
   from opendbc.car.ford.explorer_lateral import bounded_command
   from opendbc.car.ford.lateral_strategy import FordLateralResult
-  owner = ExplorerLateralController(SimpleNamespace(carFingerprint=CAR.FORD_EXPLORER_MK6, flags=0))
+  owner = ExplorerLateralController(controller_params(CAR.FORD_EXPLORER_MK6, 0))
   # Recovery outside the error window may proceed when source fall permits it.
   recovery = bounded_command(owner, FordLateralResult(curvature=sign*.001, active=True), sign*.003, 35., 0.)
   delta = CarControllerParams.CURVATURE_LIMITS.MAX_LATERAL_JERK / 35.**2 * .05

opendbc_repo/opendbc/car/ford/tests/test_mache_lateral.py

@@ -1,5 +1,6 @@
 """Original-derived Mach-E demand and driver handoff regressions."""
 from types import SimpleNamespace
+from opendbc.car.ford.interface import CarInterface
 import pytest
 from opendbc.car import Bus, structs
 from opendbc.car.lateral import MAX_LATERAL_JERK
@@ -11,10 +12,15 @@ from opendbc.car.ford.tests.test_three_ports import params
 from opendbc.car.ford.carcontroller import CarController
 from opendbc.car.ford.carstate import CarState
 
+def controller_params(car, flags):
+  cp = CarInterface.get_non_essential_params(car)
+  return SimpleNamespace(brand=cp.brand, safetyConfigs=cp.safetyConfigs, carFingerprint=car, flags=flags)
+
+
 
 @pytest.fixture
 def controller():
-  owner = MachELateralController(SimpleNamespace(flags=FordFlags.CANFD, carFingerprint=CAR.FORD_MUSTANG_MACH_E_MK1))
+  owner = MachELateralController(controller_params(CAR.FORD_MUSTANG_MACH_E_MK1, FordFlags.CANFD))
   model = SimpleNamespace(orientationRate=SimpleNamespace(z=[0.]*33),
                           meta=SimpleNamespace(laneChangeState=0, laneChangeDirection=0))
   owner.set_inputs(model, tuple(i*.1 for i in range(33)), .2, True)
@@ -373,7 +379,7 @@ def test_actual_controller_announces_before_full_physical_frame_and_resets_off()
 
 
 def test_modern_transient_bound_updates_emitted_history_without_hidden_windup():
-  owner = MachELateralController(SimpleNamespace(flags=FordFlags.CANFD, carFingerprint=CAR.FORD_MUSTANG_MACH_E_MK1))
+  owner = MachELateralController(controller_params(CAR.FORD_MUSTANG_MACH_E_MK1, FordFlags.CANFD))
   raw = FordLateralResult(curvature=.006, path_angle=.16, active=True)
   command = bounded_command(owner, raw, .001, 15.)
   assert command.curvature < raw.curvature
@@ -389,7 +395,7 @@ def test_modern_transient_bound_updates_emitted_history_without_hidden_windup():
 
 @pytest.mark.parametrize("sign", (-1, 1))
 def test_speed_changes_intersect_bounds_or_withdraw_and_preserve_path_headroom(sign):
-  owner = MachELateralController(SimpleNamespace(flags=FordFlags.CANFD, carFingerprint=CAR.FORD_MUSTANG_MACH_E_MK1))
+  owner = MachELateralController(controller_params(CAR.FORD_MUSTANG_MACH_E_MK1, FordFlags.CANFD))
   previous, path = sign * .0198, sign * .055
   for speed in (5., 5.1, 5.2, 5.3, 8., 15., 5.):
     demand = FordLateralResult(curvature=sign*.02, path_angle=sign*.16, active=True)

openpilot/starpilot/galaxy/setting_descriptions.py

@@ -6,6 +6,7 @@ This presentation catalog supplies the purpose before any genuine prerequisite.
 from openpilot.starpilot.ui.long_profile_feature import CATEGORY_HELP, VALUE_HELP
 
 DESCRIPTIONS = {
+  'FordPrefSteerAngleCurvature': 'Uses steering pinion angle instead of yaw rate to estimate Ford steering curvature. Applies at the next vehicle startup.',
   'lane_change:turn_signal_guidance': 'Uses your turn signal to help the model choose a turning path at intersections.',
   'AlphaLongitudinalEnabled': ('Requests StarPilot speed control instead of factory ACC. May disable Automatic Emergency Braking. ' +
                               'Applies after the next startup; exact vehicle takeover checks remain required.'),

openpilot/starpilot/galaxy/tests/description-key-inventory.json

@@ -28,6 +28,7 @@
   "ForceStopDistanceOffset",
   "ForceStops",
   "FordLateralMode",
+  "FordPrefSteerAngleCurvature",
   "GMAutoHold",
   "GMLongitudinalTune",
   "GMPedalLongitudinal",

prebuilt.json

@@ -1 +1 @@
-{"protected_inventory_sha256": "06233ed7a0ce625bebf465e3550c89ba7d9b8c4047c33c3d80933fbcf9358a09", "schema_version": 1}
+{"protected_inventory_sha256": "6da4fd83aab12b238ffe8afbdeecf6f0e4603e4dd92b7bbabd9c858bfb2f9341", "schema_version": 1}