Ferd Long

selfdrive/controls/lib/longitudinal_vehicle_tunes.py

@@ -57,6 +57,7 @@ FORD_LIGHTNING_FAR_FOLLOW_RELEASE_SLEW_RATE = 1.75
 FORD_LIGHTNING_STANDSTILL_GUARD_DISTANCE_MARGIN = 5.0
 FORD_LIGHTNING_STANDSTILL_GUARD_MAX_LEAD_SPEED = 0.60
 FORD_LIGHTNING_GAP_SETTLE_MAX_EXTRA_GAP = 3.0
+FORD_MACH_E_GAP_SETTLE_MAX_EXTRA_GAP = 2.5
 TOYOTA_SIENNA_POST_DEPARTURE_RESTOP_MAX_EGO_SPEED = 2.0
 TOYOTA_SIENNA_POST_DEPARTURE_RESTOP_MAX_LEAD_SPEED = 0.45
 TOYOTA_SIENNA_POST_DEPARTURE_RESTOP_MAX_LEAD_DELTA = 0.35
@@ -329,6 +330,8 @@ def get_standstill_gap_settle_max_extra_gap(CP):
     return HONDA_CRV_5G_GAP_SETTLE_MAX_EXTRA_GAP
   if is_ford_f150_lightning(CP):
     return FORD_LIGHTNING_GAP_SETTLE_MAX_EXTRA_GAP
+  if getattr(CP, "brand", "") == "ford" and str(getattr(CP, "carFingerprint", "")) == "FORD_MUSTANG_MACH_E_MK1":
+    return FORD_MACH_E_GAP_SETTLE_MAX_EXTRA_GAP
   return 1.5
 
 

selfdrive/controls/tests/test_longitudinal_planner.py

@@ -858,6 +858,21 @@ def test_lightning_stopped_lead_guard_tune_is_vehicle_specific():
   assert get_tracked_lead_catchup_bias_gain(civic) is None
 
 
+def test_mach_e_standstill_gap_settle_covers_observed_gap_without_changing_other_cars():
+  mach_e = FordCarInterface.get_non_essential_params(FORD_CAR.FORD_MUSTANG_MACH_E_MK1)
+  civic = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+  lead = make_lead(status=True, d_rel=7.7, v_lead=0.0, radar=True, model_prob=1.0, y_rel=0.0)
+
+  assert get_standstill_gap_settle_max_extra_gap(mach_e) == pytest.approx(2.5)
+  assert get_standstill_gap_settle_max_extra_gap(civic) == pytest.approx(1.5)
+  assert LongitudinalPlanner.is_radar_standstill_gap_settle_candidate(
+    lead, 0.0, 5.5, max_extra_gap=get_standstill_gap_settle_max_extra_gap(mach_e))
+  assert not LongitudinalPlanner.is_radar_standstill_gap_settle_candidate(
+    lead, 0.0, 5.5, max_extra_gap=get_standstill_gap_settle_max_extra_gap(civic))
+  assert not LongitudinalPlanner.is_radar_standstill_gap_settle_candidate(
+    lead, 0.5, 5.5, max_extra_gap=get_standstill_gap_settle_max_extra_gap(mach_e))
+
+
 def test_lightning_stopped_radar_lead_handoff_is_narrow_and_vehicle_specific():
   lightning = FordCarInterface.get_non_essential_params(FORD_CAR.FORD_F_150_LIGHTNING_MK1)
   civic = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)

starpilot/system/the_galaxy/tests/test_personality_profiles_api.py

@@ -1,5 +1,7 @@
 import json
 import sys
+from contextlib import contextmanager
+from types import SimpleNamespace
 
 import numpy as np
 import pytest
@@ -788,6 +790,38 @@ def test_reset_defaults_requires_confirmed_offroad_without_side_effects(monkeypa
   assert reboots == []
 
 
+def test_reset_defaults_preserves_detected_vehicle_for_vehicle_settings(monkeypatch):
+  client, params = _client(monkeypatch, {
+    "CarMake": "Ford", "CarModel": "FORD_MUSTANG_MACH_E_MK1", "CarModelName": "Mustang Mach-E",
+    "FordHandsFreeCluster": True,
+  })
+  monkeypatch.setattr(params, "all_keys", lambda: ["CarMake", "CarModel", "CarModelName", "FordHandsFreeCluster"], raising=False)
+  monkeypatch.setattr(params, "get_default_value", lambda key: "mock" if key == "CarMake" else False, raising=False)
+  monkeypatch.setattr(the_galaxy, "_params_raw", params)
+  monkeypatch.setattr(the_galaxy, "update_starpilot_toggles", lambda: None)
+  monkeypatch.setattr(the_galaxy.HARDWARE, "reboot", lambda: None)
+
+  assert client.post("/api/toggles/reset_default").status_code == 200
+  assert params.values["CarMake"] == "Ford"
+  assert params.values["CarModel"] == "FORD_MUSTANG_MACH_E_MK1"
+  assert params.values["CarModelName"] == "Mustang Mach-E"
+  assert params.values["FordHandsFreeCluster"] is False
+
+
+def test_vehicle_make_recovers_from_persistent_car_params_after_reset(monkeypatch):
+  @contextmanager
+  def ford_params(_):
+    yield SimpleNamespace(brand="ford", carFingerprint="FORD_MUSTANG_MACH_E_MK1")
+
+  client, params = _client(monkeypatch, {"CarMake": "mock", "CarParamsPersistent": b"saved-ford-params"})
+  monkeypatch.setattr(the_galaxy, "_safe_params_get_live_raw", lambda key, default=None, block=False: params.values.get(key, default))
+  monkeypatch.setattr(the_galaxy.car.CarParams, "from_bytes", ford_params)
+
+  assert the_galaxy._get_effective_car_make("mock") == "Ford"
+  assert the_galaxy._get_effective_car_make("Toyota") == "Toyota"
+  assert client.get("/api/params/all").get_json()["CarMake"] == "Ford"
+
+
 @pytest.mark.parametrize("device_state", [
   {"IsOnroad": True, "IsOffroad": False},
   {"IsOnroad": False, "IsOffroad": False},

starpilot/system/the_galaxy/the_galaxy.py

@@ -3762,6 +3762,23 @@ def _get_detected_truck_tuning():
     return False
 
 
+def _get_effective_car_make(stored_make):
+  if isinstance(stored_make, bytes):
+    stored_make = stored_make.decode("utf-8", errors="replace")
+  if str(stored_make or "").strip().lower() not in ("", "mock"):
+    return stored_make
+  cp_bytes = _safe_params_get_live_raw("CarParamsPersistent")
+  if cp_bytes:
+    try:
+      with car.CarParams.from_bytes(cp_bytes) as cp:
+        if cp.brand and cp.brand != "mock":
+          make_key = str(cp.carFingerprint).split("_", 1)[0]
+          return next((make for make in FINGERPRINT_MAKE_LABELS if make.lower() == make_key.lower()), cp.brand.title())
+    except Exception:
+      pass
+  return stored_make
+
+
 def _get_effective_legacy_custom_accel_curve(
   ev_tuning: bool, truck_tuning: bool, *, acceleration_profile=None, custom_enabled: bool | None = None,
 ) -> list[float]:
@@ -6773,6 +6790,8 @@ def setup(app):
     if request_key == "IsRHD" and not params.get_bool("IsRHDOverride"):
       return ("1" if params.get_bool("IsRhdDetected") else "0"), 200
     value = params.get(request_key) or ""
+    if request_key == "CarMake":
+      return _get_effective_car_make(value), 200
     if request_key in ("Model", "DrivingModel"):
       if isinstance(value, bytes):
         value = value.decode("utf-8", errors="replace")
@@ -6813,6 +6832,7 @@ def setup(app):
       except Exception:
         result[key] = None
 
+    result["CarMake"] = _get_effective_car_make(result.get("CarMake"))
     result["TeslaCANWakeAvailable"] = supports_tesla_can_wake(params)
     result["HasRadar"] = _get_has_radar()
     result["VehicleParked"] = _get_vehicle_parked()
@@ -10546,7 +10566,7 @@ def setup(app):
 
     for raw_key in _params_raw.all_keys():
       key = raw_key.decode() if isinstance(raw_key, bytes) else str(raw_key)
-      if key in EXCLUDED_KEYS:
+      if key in EXCLUDED_KEYS or key in ("CarMake", "CarModel", "CarModelName"):
         continue
 
       default_value = _params_raw.get_default_value(raw_key)