diff --git a/selfdrive/car/ford/radar_interface.py b/selfdrive/car/ford/radar_interface.py index 1dfc27e67..866602cf0 100644 --- a/selfdrive/car/ford/radar_interface.py +++ b/selfdrive/car/ford/radar_interface.py @@ -9,6 +9,9 @@ RADAR_MSGS = list(range(0x500, 0x540)) def _create_radar_can_parser(car_fingerprint): + if DBC[car_fingerprint]['radar'] is None: + return None + msg_n = len(RADAR_MSGS) signals = list(zip(['X_Rel'] * msg_n + ['Angle'] * msg_n + ['V_Rel'] * msg_n, RADAR_MSGS * 3)) @@ -27,6 +30,9 @@ class RadarInterface(RadarInterfaceBase): self.updated_messages = set() def update(self, can_strings): + if self.rcp is None: + return super().update(None) + vls = self.rcp.update_strings(can_strings) self.updated_messages.update(vls) diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 96ec87d75..aae011ad3 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -79,6 +79,6 @@ FW_VERSIONS = { DBC = { - CAR.ESCAPE_MK4: dbc_dict('ford_lincoln_base_pt', 'ford_fusion_2018_adas'), - CAR.FOCUS_MK4: dbc_dict('ford_lincoln_base_pt', 'ford_fusion_2018_adas'), + CAR.ESCAPE_MK4: dbc_dict('ford_lincoln_base_pt', None), + CAR.FOCUS_MK4: dbc_dict('ford_lincoln_base_pt', None), }