Use one saved schedule with editable zero defaults. Preserve current schedules and round displayed offsets and edits to whole units without conversion drift.
On the Steering page, for every Ford that can run BluePilot lateral (not the Transit), in Galaxy and the
native settings alike:
- BluePilot Lateral (off by default), Primary Control (curvature/angle) and Use Pinion Yaw Sensor (platforms
with a pinion geometry row) change while parked; the switch and the pinion sensor apply at the next vehicle
startup, and Safe Mode keeps BluePilot lateral off.
- the tuning rows of the current mode change any time, since the library reads them every frame; rows that
depend on Lane Positioning or the custom profile wait for it.
Ranges come from the library's manifest and defaults from params_keys.h, so the rows can't drift from what the
controller reads. A change is checked against the row it was made on, so a request from before its switch
changed is refused.
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>
Retain real composition and input-routing methods with typed drawing boundaries.
Preserve existing assertions and validate optional settings requests explicitly.
AngusBell97