- params_keys.h: every setting in the library's manifest (python -m opendbc.bluepilot_lateral.params.manifest),
without BACKUP, which StarPilot's params don't have. disable_BP_lat_UI defaults to "1": BluePilot lateral
is off until the user turns it on.
- car init (VehicleStartupPreferences.prepare): init_ford_safety_param_starpilot ORs the library's startup
bits into the Ford param. They stay off without the openpilot toggle, in Safe Mode, or when a startup
setting can't be read.
- card (configure_controller): the Ford CarController gets a BluePilotInputs, which fills the library's
LateralInputs from modelV2, vehicleParameters and lateralDelay each frame and re-reads the per-frame
settings every 3 s.
- test_bluepilot_lateral.py: the init path's bits, the real CarController and libsafety with the same
param, for a CAN and a CAN FD Ford, off/on/on+pinion/pinion-only, curvature and angle mode: every
steering and LKA frame passes, and only angle mode with BluePilot on steers through the path angle.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
StarPilot's angle-only bluepilot_lateral adaptation and the BluePilot-derived curvature strategies (Mach-E,
classic, Explorer, generic CAN FD, new-port curvature, manual-turn latch, curvature preview, pinion
measurement) are removed, with their extended safety profiles 16/32/64 and the interim angle word 128. Ford
lateral is upstream's stock curvature path until the BluePilot lateral library is mounted.
StarPilot's own Ford features stay, re-keyed from the extended words to the stock ones:
- AOL: classic 32 -> 0, Mach-E 18 and the CAN FD trucks 66 -> 2 (+1 with openpilot long); the CAN FD
retained-display rules apply to word 2. Edge/Mondeo/Transit and the manual bit (256) are unchanged.
- release CAN FD long: word 3 (was 19/67); 19 and 67 are now retired and denied.
- stock cruise switch, CAN FD camera-lead radar handling, hands-free cluster: keyed on the Ford family.
- classic stock ACC (0) keeps the no-ACCDATA TX list the extended classic profile had.
Bits 9-14 of the Ford param are reserved for the BluePilot lateral library's startup bits
(safety/modes/ford_param.h); AOL and pandad mask them out of the profile word.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Wire longitudinal feature selection and inputs into planner hosts after their owners are available.
Co-authored-by: Danny <dannyirwin31@yahoo.com>
Co-authored-by: whoisdomi <dcantu83@gmail.com>
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