Cherry pick

selfdrive/car/ford/interface.py

@@ -3,7 +3,8 @@ from panda import Panda
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import get_safety_config, create_mads_event
 from openpilot.selfdrive.car.ford.fordcan import CanBus
-from openpilot.selfdrive.car.ford.values import CANFD_CAR, CAR, Ecu, BUTTON_STATES
+from openpilot.common.params import Params
+from openpilot.selfdrive.car.ford.values import CANFD_CAR, CAR, Ecu, BUTTON_STATES, FordFlagsSP
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
@@ -45,6 +46,12 @@ class CarInterface(CarInterfaceBase):
     if candidate in CANFD_CAR:
       ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_CANFD
 
+    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
+
     if candidate == CAR.BRONCO_SPORT_MK1:
       ret.wheelbase = 2.67
       ret.steerRatio = 17.7

selfdrive/car/ford/values.py

@@ -39,7 +39,6 @@ class CarControllerParams:
   def __init__(self, CP):
     pass
 
-
 BUTTON_STATES = {
   "accelCruise": False,
   "decelCruise": False,
@@ -134,3 +133,5 @@ FW_QUERY_CONFIG = FwQueryConfig(
     (Ecu.shiftByWire, 0x732, None),
   ],
 )
+class FordFlagsSP(IntFlag):
+  SP_ENHANCED_LAT_CONTROL = 1