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Ford: detect reverse gear for manual transmision (#24234)

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This commit is contained in:
Cameron Clough
2022-04-18 19:48:37 +01:00
committed by GitHub
parent 948e3edc31
commit b828131994
1 changed files with 6 additions and 2 deletions
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selfdrive/car/ford/carstate.py
+6 -2
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@@ -55,8 +55,10 @@ class CarState(CarStateBase):
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None))
elif self.CP.transmissionType == TransmissionType.manual:
ret.clutchPressed = cp.vl["Engine_Clutch_Data"]["CluPdlPos_Pc_Meas"] > 0
# TODO: find reverse light signal
ret.gearShifter = GearShifter.drive
if bool(cp.vl["BCM_Lamp_Stat_FD1"]["RvrseLghtOn_B_Stat"]):
ret.gearShifter = GearShifter.reverse
else:
ret.gearShifter = GearShifter.drive
# safety
ret.stockFcw = bool(cp_cam.vl["ACCDATA_3"]["FcwVisblWarn_B_Rq"])
@@ -148,9 +150,11 @@ class CarState(CarStateBase):
elif CP.transmissionType == TransmissionType.manual:
signals += [
("CluPdlPos_Pc_Meas", "Engine_Clutch_Data"), # PCM clutch (pct)
("RvrseLghtOn_B_Stat", "BCM_Lamp_Stat_FD1"), # BCM reverse light
]
checks += [
("Engine_Clutch_Data", 33),
("BCM_Lamp_Stat_FD1", 1),
]
if CP.enableBsm: