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Revert "Ford: detect missing LKAS from EPS configuration (#31821)"

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This reverts commit 0a46b076a3b8f52e9a7aa5cc87acf1e3d8b64a0e.

old-commit-hash: ffb34e558fe369bb5a5d6d7ff476c3b8e601f6db
This commit is contained in:
Shane Smiskol
2024-05-21 23:21:31 -07:00
parent 912ae13307
commit e3af6d23de
1 changed files with 0 additions and 12 deletions
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selfdrive/car/ford/interface.py
-12
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@@ -39,18 +39,6 @@ class CarInterface(CarInterfaceBase):
if ret.flags & FordFlags.CANFD:
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_CANFD
else:
# Lock out if the car does not have needed lateral and longitudinal control APIs.
# Note that we also check CAN for adaptive cruise, but no known signal for LCA exists
pscm_config = next((fw for fw in car_fw if fw.ecu == Ecu.eps and b'\x22\xDE\x01' in fw.request), None)
if pscm_config:
if len(pscm_config.response) != 24:
ret.dashcamOnly = True
else:
config_tja = pscm_config.response[7] # Traffic Jam Assist
config_lca = pscm_config.response[8] # Lane Centering Assist
if config_tja != 0xFF or config_lca != 0xFF:
ret.dashcamOnly = True
# Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1
found_ecus = [fw.ecu for fw in car_fw]