From 3c5d9689fcdbb2c931695ba0cbbec9eef54d7f48 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Sun, 12 Jun 2022 17:27:46 +0100 Subject: [PATCH] Ford: disable radar for now (#24832) The newer Ford vehicles require a different radar parser. old-commit-hash: 3f60088f432f0bf8e7805cdb2223817c249ec7fa --- selfdrive/car/ford/radar_interface.py | 6 ++++++ selfdrive/car/ford/values.py | 4 ++-- 2 files changed, 8 insertions(+), 2 deletions(-) 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), }