Ford: honor C2-free toggle without EPS firmware gate

docs/ford_virtual_angle_experiment.md

@@ -31,6 +31,13 @@ measured correction can distinguish them. Replaying old motion verifies
 command construction, not the truck's counterfactual response or a fix for
 the unrecorded plateau.
 
+Route83 had the sunnylink toggle on, but its current CarParams omitted the
+EPS firmware responses. The former firmware eligibility check therefore
+selected the default `FordPathController`; replay reproduced its recorded
+C0/C1/C2 requests. Those favorable driving results do not validate v5. The
+toggle now selects this experiment on the supported Lightning platform
+without depending on firmware-query results.
+
 ## Base request and feedback
 
 controlsd uses valid `lateralManeuverPlan.desiredCurvature`, otherwise
@@ -128,11 +135,19 @@ filtered heading does not command C1.
 
 Vehicle → Ford → **C2-Free Path Tracking (Experimental)** retains the existing
 `FordVirtualAngleController` key and default-off setting. An already-enabled
-setting selects v5 after updating and restarting controlsd. Selection remains
-limited to Ford CAN FD, `FORD_F_150_LIGHTNING_MK1`, and EPS firmware
-`RL38-14D003-AA`. It takes priority over PSCM Coefficient Observer. Turning it
-off and cycling offroad/onroad restores the previous controller selection.
-No live device setting is changed by this commit.
+setting selects v5 after updating and restarting controlsd. The toggle
+controls selection on Ford CAN FD `FORD_F_150_LIGHTNING_MK1`: missing or
+different EPS firmware-query results no longer cause a fallback. Other
+platforms retain their existing controller. V5 takes priority over PSCM
+Coefficient Observer while selected. Turning it off and cycling offroad/onroad
+restores the previous controller selection; changes are not applied live onroad.
+
+Controller selection does not bypass lateral engagement, input-validity,
+driver-override or fresh-PSCM-status requirements. The feedback eligibility
+rules above still apply, and all C0/C1 bounds and C2/C3 behavior are unchanged.
+The analyzed firmware remains `RL38-14D003-AA`; removing the selection check
+does not establish validation on other firmware. No live device setting is
+changed by this commit.
 
 ## Diagnostics and verification
 

openpilot/selfdrive/controls/lib/ford_virtual_angle.py

@@ -300,9 +300,9 @@ class FordVirtualAngleController:
 
 
 def select_virtual_angle_controller(CP, enabled, previous_controller):
-  # The source route analysis covers only this vehicle/firmware.
+  # The Sunnylink toggle selects this controller on the Lightning even when
+  # the startup firmware query omits EPS identification.
   compatible = CP.brand == 'ford' and CP.flags & FordFlags.CANFD and CP.carFingerprint == 'FORD_F_150_LIGHTNING_MK1'
-  firmware = compatible and any(str(fw.ecu) == 'eps' and bytes(fw.fwVersion).rstrip(b'\0') == b'RL38-14D003-AA' for fw in CP.carFw)
-  if enabled and firmware:
+  if enabled and compatible:
     return FordVirtualAngleController(CP.steerActuatorDelay)
   return previous_controller

openpilot/selfdrive/controls/tests/test_ford_virtual_angle.py

@@ -18,14 +18,25 @@ def car_params(**kwargs):
 
 
 class TestVirtualAngleSelection(unittest.TestCase):
-  def test_opt_in_and_exact_vehicle_firmware_scope(self):
+  def test_opt_in_and_exact_vehicle_scope(self):
     for previous in (FordPathController(), FordPscmObserverPathController()):
       self.assertIs(select_virtual_angle_controller(car_params(), False, previous), previous)
-      for overrides in ({'brand': 'tesla'}, {'flags': 0}, {'carFingerprint': 'FORD_F_150_MK14'},
-                        {'carFw': []}, {'carFw': [SimpleNamespace(ecu='eps', fwVersion=b'ML3V')]}):
+      for overrides in ({'brand': 'tesla'}, {'flags': 0}, {'carFingerprint': 'FORD_F_150_MK14'}):
         self.assertIs(select_virtual_angle_controller(car_params(**overrides), True, previous), previous)
       self.assertIsInstance(select_virtual_angle_controller(car_params(), True, previous), FordVirtualAngleController)
 
+  def test_toggle_controls_selection_independently_of_firmware_query(self):
+    for firmware in ([], [SimpleNamespace(ecu='engine', fwVersion=b'engine')],
+                     [SimpleNamespace(ecu='eps', fwVersion=b'RL38-14D003-AA')],
+                     [SimpleNamespace(ecu='eps', fwVersion=b'other')]):
+      for previous in (FordPathController(), FordPscmObserverPathController()):
+        with self.subTest(firmware=firmware, previous=type(previous).__name__):
+          cp = car_params(carFw=firmware, steerActuatorDelay=.3)
+          self.assertIs(select_virtual_angle_controller(cp, False, previous), previous)
+          chosen = select_virtual_angle_controller(cp, True, previous)
+          self.assertIsInstance(chosen, FordVirtualAngleController)
+          self.assertEqual(chosen.delay, .3)
+
   def test_old_setting_cannot_enable_new_controller(self):
     from openpilot.common.params import Params
     with tempfile.TemporaryDirectory(prefix='ford-virtual-params-') as directory:
@@ -36,11 +47,14 @@ class TestVirtualAngleSelection(unittest.TestCase):
       self.assertIs(params.get_default_value('FordVirtualAngleController'), False)
       self.assertFalse(params.get_bool('FordVirtualAngleController'))
       previous = FordPathController()
-      self.assertIs(select_virtual_angle_controller(car_params(), params.get_bool('FordVirtualAngleController'), previous), previous)
+      # Route83 had the toggle on but no EPS firmware records in CarParams.
+      cp = car_params(carFw=[])
+      self.assertIs(select_virtual_angle_controller(cp, params.get_bool('FordVirtualAngleController'), previous), previous)
       params.put_bool('FordVirtualAngleController', True, block=True)
-      chosen = select_virtual_angle_controller(car_params(), params.get_bool('FordVirtualAngleController'), previous)
+      chosen = select_virtual_angle_controller(cp, params.get_bool('FordVirtualAngleController'), previous)
       params.put_bool('FordVirtualAngleController', False, block=True)
       self.assertIsInstance(chosen, FordVirtualAngleController)  # only selected at startup
+      self.assertIs(select_virtual_angle_controller(cp, params.get_bool('FordVirtualAngleController'), previous), previous)
 
 
 if __name__ == '__main__':

openpilot/sunnypilot/sunnylink/settings_ui.json

@@ -2184,7 +2184,7 @@
           "needs_onroad_cycle": true,
           "title": "C2-Free Path Tracking (Experimental)",
           "description": "Follow the planned turn with a measured steering correction on the F-150 Lightning with C2 off.",
-          "details": "Uses planned curvature for centering and heading, with a bounded correction when measured turning differs from the request. The correction requires fresh steering-controller status and clears during driver override. Default off and this version is not road-validated. Available only on the F-150 Lightning with RL38-14D003-AA steering firmware; other vehicles retain their existing controller. Enable only for controlled testing. Takes priority over PSCM Coefficient Observer while enabled. Turning it off restores the previous controller selection. Changes apply after a real offroad-to-onroad cycle, not immediately or on disengagement alone.",
+          "details": "Uses planned curvature for centering and heading, with a bounded correction when measured turning differs from the request. The correction requires fresh steering-controller status and clears during driver override. Default off and this version is not road-validated. When enabled, this controller is always selected on the Ford CAN FD F-150 Lightning regardless of steering-firmware identification; other vehicles retain their existing controller. Enable only for controlled testing. Takes priority over PSCM Coefficient Observer while enabled. Turning it off restores the previous controller selection. Changes apply after a real offroad-to-onroad cycle, not immediately or on disengagement alone.",
           "enablement": [
             {
               "type": "offroad_only"

openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml

@@ -15,7 +15,7 @@ sections:
     needs_onroad_cycle: true
     title: C2-Free Path Tracking (Experimental)
     description: Follow the planned turn with a measured steering correction on the F-150 Lightning with C2 off.
-    details: Uses planned curvature for centering and heading, with a bounded correction when measured turning differs from the request. The correction requires fresh steering-controller status and clears during driver override. Default off and this version is not road-validated. Available only on the F-150 Lightning with RL38-14D003-AA steering firmware; other vehicles retain their existing controller. Enable only for controlled testing. Takes priority over PSCM Coefficient Observer while enabled. Turning it off restores the previous controller selection. Changes apply after a real offroad-to-onroad cycle, not immediately or on disengagement alone.
+    details: Uses planned curvature for centering and heading, with a bounded correction when measured turning differs from the request. The correction requires fresh steering-controller status and clears during driver override. Default off and this version is not road-validated. When enabled, this controller is always selected on the Ford CAN FD F-150 Lightning regardless of steering-firmware identification; other vehicles retain their existing controller. Enable only for controlled testing. Takes priority over PSCM Coefficient Observer while enabled. Turning it off restores the previous controller selection. Changes apply after a real offroad-to-onroad cycle, not immediately or on disengagement alone.
     enablement:
     - $ref: '#/macros/offroad'
   - key: FordPscmObserver

openpilot/sunnypilot/sunnylink/tests/test_settings_schema.py

@@ -289,7 +289,9 @@ class TestKnownVehicleSettings(OpenpilotTestCase):
     # No other toggle can prevent disabling this experiment while offroad.
     assert servo["enablement"] == [{"type": "offroad_only"}]
     assert "F-150 Lightning" in servo["description"]
-    assert "RL38-14D003-AA" in servo["details"]
+    assert "always selected on the Ford CAN FD F-150 Lightning regardless of steering-firmware identification" in servo["details"]
+    assert "Turning it off restores the previous controller selection" in servo["details"]
+    assert "RL38-14D003-AA" not in servo["details"]
     assert "not road-validated" in servo["details"]
     assert "offroad" in servo["details"] and "onroad" in servo["details"]