diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index f8cc581101..9142fc6cc6 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -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: