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Ford: hybrids are unsupported (#28171)
* hybrid fords are dashcammed * something like this? * just do an alert * good comment * space * bb bb * top * Update selfdrive/car/ford/interface.py * add a noEntry * remove from release notes * sad :( --------- Co-authored-by: Cameron Clough <cameronjclough@gmail.com>
This commit is contained in:
Shane Smiskol
@@ -8,19 +8,13 @@ Version 0.9.2 (2023-05-XX)
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* Chevrolet Trailblazer 2021-22 support thanks to TurboCE!
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* Ford Bronco Sport 2021-22 support
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* Ford Escape 2020-22 support
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* Ford Escape Hybrid 2020-22 support
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* Ford Escape Plug-in Hybrid 2021-22 support
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* Ford Explorer 2020-22 support
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* Ford Explorer Hybrid 2020-22 support
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* Ford Kuga 2020-22 support
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* Ford Kuga Hybrid 2020-22 support
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* Ford Kuga Plug-in Hybrid 2020-22 support
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* Genesis GV80 2023 support thanks to JWingate80!
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* Honda HR-V 2023 support thanks to AlexandreSato and galegozi!
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* Kia Niro EV 2023 support thanks to JosselinLecocq!
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* Lexus ES 2017-18 support
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* Lincoln Aviator 2021 support
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* Lincoln Aviator Plug-in Hybrid 2021 support
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* Škoda Fabia 2022-23 support thanks to jyoung8607!
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+1
-7
@@ -4,7 +4,7 @@
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A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
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# 257 Supported Cars
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# 251 Supported Cars
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|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video|
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|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
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@@ -33,13 +33,8 @@ A supported vehicle is one that just works when you install a comma three. All s
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|comma|body|All|openpilot|0 mph|0 mph|[](##)|[](##)|None||
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|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Bronco Sport 2021-22">Ford Q3</a>||
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|Ford|Escape 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Escape 2020-22">Ford Q3</a>||
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|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Escape Hybrid 2020-22">Ford Q3</a>||
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|Ford|Escape Plug-in Hybrid 2021-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Escape Plug-in Hybrid 2021-22">Ford Q3</a>||
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|Ford|Explorer 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Explorer 2020-22">Ford Q3</a>||
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|Ford|Explorer Hybrid 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Explorer Hybrid 2020-22">Ford Q3</a>||
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|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Kuga 2020-22">Ford Q3</a>||
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|Ford|Kuga Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Kuga Hybrid 2020-22">Ford Q3</a>||
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|Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Kuga Plug-in Hybrid 2020-22">Ford Q3</a>||
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|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2018-19">Hyundai F</a>||
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|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2020">Hyundai F</a>||
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|Genesis|G80 2017|All|Stock|19 mph|37 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2017">Hyundai J</a>||
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@@ -157,7 +152,6 @@ A supported vehicle is one that just works when you install a comma three. All s
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|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2020-21">Toyota</a>||
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|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=UX Hybrid 2019-22">Toyota</a>||
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|Lincoln|Aviator 2021|Co-Pilot360 Plus|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lincoln&model=Aviator 2021">Ford Q3</a>||
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|Lincoln|Aviator Plug-in Hybrid 2021|Co-Pilot360 Plus|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lincoln&model=Aviator Plug-in Hybrid 2021">Ford Q3</a>||
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|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=MAN&model=eTGE 2020-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
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|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=MAN&model=TGE 2017-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
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|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-5 2022-23">Mazda</a>||
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@@ -17,10 +17,16 @@ class CarState(CarStateBase):
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self.shifter_values = can_define.dv["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"]
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self.vehicle_sensors_valid = False
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self.hybrid_platform = False
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def update(self, cp, cp_cam):
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ret = car.CarState.new_message()
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# Hybrid variants experience a bug where a message from the PCM sends invalid checksums,
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# we do not support these cars at this time.
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# TrnAin_Tq_Actl and its quality flag are only set on ICE platform variants
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self.hybrid_platform = cp.vl["VehicleOperatingModes"]["TrnAinTq_D_Qf"] == 0
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# Occasionally on startup, the ABS module recalibrates the steering pinion offset, so we need to block engagement
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# The vehicle usually recovers out of this state within a minute of normal driving
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self.vehicle_sensors_valid = cp.vl["SteeringPinion_Data"]["StePinCompAnEst_D_Qf"] == 3
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@@ -99,6 +105,8 @@ class CarState(CarStateBase):
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def get_can_parser(CP):
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signals = [
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# sig_name, sig_address
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("TrnAinTq_D_Qf", "VehicleOperatingModes"), # Used to detect hybrid or ICE platform variant
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("Veh_V_ActlBrk", "BrakeSysFeatures"), # ABS vehicle speed (kph)
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("VehYaw_W_Actl", "Yaw_Data_FD1"), # ABS vehicle yaw rate (rad/s)
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("VehStop_D_Stat", "DesiredTorqBrk"), # ABS vehicle stopped
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@@ -160,6 +168,7 @@ class CarState(CarStateBase):
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checks = [
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# sig_address, frequency
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("VehicleOperatingModes", 100),
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("BrakeSysFeatures", 50),
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("Yaw_Data_FD1", 100),
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("DesiredTorqBrk", 50),
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@@ -78,6 +78,8 @@ class CarInterface(CarInterfaceBase):
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events = self.create_common_events(ret, extra_gears=[GearShifter.manumatic])
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if not self.CS.vehicle_sensors_valid:
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events.add(car.CarEvent.EventName.vehicleSensorsInvalid)
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if self.CS.hybrid_platform:
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events.add(car.CarEvent.EventName.startupNoControl)
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ret.events = events.to_msg()
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@@ -72,17 +72,11 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
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CAR.BRONCO_SPORT_MK1: FordCarInfo("Ford Bronco Sport 2021-22"),
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CAR.ESCAPE_MK4: [
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FordCarInfo("Ford Escape 2020-22"),
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FordCarInfo("Ford Escape Hybrid 2020-22"),
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FordCarInfo("Ford Escape Plug-in Hybrid 2021-22"),
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FordCarInfo("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering"),
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FordCarInfo("Ford Kuga Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"),
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FordCarInfo("Ford Kuga Plug-in Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"),
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],
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CAR.EXPLORER_MK6: [
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FordCarInfo("Ford Explorer 2020-22"),
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FordCarInfo("Ford Explorer Hybrid 2020-22"),
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FordCarInfo("Lincoln Aviator 2021", "Co-Pilot360 Plus"),
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FordCarInfo("Lincoln Aviator Plug-in Hybrid 2021", "Co-Pilot360 Plus"),
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],
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CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2018", "Adaptive Cruise Control with Lane Centering"),
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CAR.MAVERICK_MK1: FordCarInfo("Ford Maverick 2022-23", "Co-Pilot360 Assist"),
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@@ -358,6 +358,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
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# Car is recognized, but marked as dashcam only
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EventName.startupNoControl: {
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ET.PERMANENT: StartupAlert("Dashcam mode"),
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ET.NO_ENTRY: NoEntryAlert("Dashcam mode"),
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},
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# Car is not recognized
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