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Ford: set CAN FD safety param (#28979)

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This commit is contained in:
Cameron Clough
2023-07-16 21:00:42 +01:00
committed by GitHub
parent f30b859eca
commit d0e6076059
1 changed files with 4 additions and 1 deletions
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selfdrive/car/ford/interface.py
+4 -1
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@@ -4,7 +4,7 @@ from panda import Panda
from common.conversions import Conversions as CV
from selfdrive.car import STD_CARGO_KG, get_safety_config
from selfdrive.car.ford.fordcan import CanBus
from selfdrive.car.ford.values import CAR, Ecu
from selfdrive.car.ford.values import CANFD_CARS, CAR, Ecu
from selfdrive.car.interfaces import CarInterfaceBase
TransmissionType = car.CarParams.TransmissionType
@@ -32,6 +32,9 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_LONG_CONTROL
ret.openpilotLongitudinalControl = True
if candidate in CANFD_CARS:
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_CANFD
if candidate == CAR.BRONCO_SPORT_MK1:
ret.wheelbase = 2.67
ret.steerRatio = 17.7