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ford: add Edge MK2 yaw-counter-step-1 variant

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1okko
2026-10-11 15:59:43 +08:00
parent 6aa6f6bda0
commit c290bf6792
2 changed files with 8 additions and 2 deletions
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opendbc_repo/opendbc/car/ford/interface.py
+2 -2
View File
@@ -56,8 +56,8 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs[-1].safetyParam |= FordSafetyFlags.LONG_CONTROL.value
ret.openpilotLongitudinalControl = True
if ret.flags & FordFlags.ALT_STEER_ANGLE:
# Edge MK2 has RCM Yaw_Data_FD1 counter increments of 5 instead of 1
if ret.flags & FordFlags.ALT_STEER_ANGLE and not ret.flags & FordFlags.YAW_COUNTER_STEP_1:
# Edge MK2 normally has RCM Yaw_Data_FD1 counter increments of 5 instead of 1
ret.safetyConfigs[-1].safetyParam |= FordSafetyFlags.YAW_COUNTER_STEP_5.value
if ret.flags & FordFlags.CANFD:
opendbc_repo/opendbc/car/ford/values.py
+6
View File
@@ -49,6 +49,7 @@ class FordFlags(IntFlag):
# Static flags
CANFD = 1
ALT_STEER_ANGLE = 2
YAW_COUNTER_STEP_1 = 4
class RADAR:
@@ -128,6 +129,11 @@ class CAR(Platforms):
CarSpecs(mass=1933, wheelbase=2.824, steerRatio=15.3),
flags=FordFlags.ALT_STEER_ANGLE,
)
FORD_EDGE_MK2_YAW1 = FordPlatformConfig(
[FordCarDocs("Ford Edge 2022 (Yaw Counter Step 1)")],
CarSpecs(mass=1933, wheelbase=2.824, steerRatio=15.3),
flags=FordFlags.ALT_STEER_ANGLE | FordFlags.YAW_COUNTER_STEP_1,
)
FORD_ESCAPE_MK4 = FordPlatformConfig(
[
FordCarDocs("Ford Escape 2020-22", hybrid=True, plug_in_hybrid=True),