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before flag is set

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This commit is contained in:
Jason Wen
2024-05-16 02:10:40 -04:00
parent b01d6d423a
commit 17b7f0bdba
1 changed files with 3 additions and 3 deletions
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selfdrive/car/ford/interface.py
+3 -3
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@@ -32,6 +32,9 @@ class CarInterface(CarInterfaceBase):
ret.longitudinalTuning.kpV = [0.5]
ret.longitudinalTuning.kiV = [0.]
if Params().get("DongleId", encoding='utf8') in ("4fde83db16dc0802", "112e4d6e0cad05e1", "e36b272d5679115f", "24574459dd7fb3e0", "83a4e056c7072678"):
ret.spFlags |= FordFlagsSP.SP_ENHANCED_LAT_CONTROL.value
CAN = CanBus(fingerprint=fingerprint)
cfgs = [get_safety_config(car.CarParams.SafetyModel.ford)]
if CAN.main >= 4:
@@ -49,9 +52,6 @@ class CarInterface(CarInterfaceBase):
if ret.spFlags & FordFlagsSP.SP_ENHANCED_LAT_CONTROL:
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_ENHANCED_LAT_CONTROL
if Params().get("DongleId", encoding='utf8') in ("4fde83db16dc0802", "112e4d6e0cad05e1", "e36b272d5679115f", "24574459dd7fb3e0", "83a4e056c7072678"):
ret.spFlags |= FordFlagsSP.SP_ENHANCED_LAT_CONTROL.value
# Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1
found_ecus = [fw.ecu for fw in car_fw]
if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[CAN.main] or docs: