From 2b0bec9e651c2229e35d80a760dec6e871077d30 Mon Sep 17 00:00:00 2001
From: Isaac Barham <isaac@coffeecakestudios.com>
Date: Tue, 5 Dec 2023 20:10:18 +0000
Subject: [PATCH] Updated to include deadzone for stopping

---
 selfdrive/car/ford/interface.py | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index 2189301db4..60c9a3a0b6 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -84,6 +84,12 @@ class CarInterface(CarInterfaceBase):
 
     else:
       raise ValueError(f"Unsupported car: {candidate}")
+    
+    ret.longitudinalTuning.kpBP = [0.]
+    ret.longitudinalTuning.kpV = [0.5]
+    ret.longitudinalTuning.kiV = [0.]
+    ret.longitudinalTuning.deadzoneBP = [0., 9.]
+    ret.longitudinalTuning.deadzoneV = [.0, .20]
 
     # Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1
     found_ecus = [fw.ecu for fw in car_fw]