From 2773a8962158a3d68da4725805d523afd62a875c Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 2 Feb 2023 12:48:57 -0800 Subject: [PATCH] Ford: restore radar DBC, check radarUnavailable (#27188) old-commit-hash: 4fd15096979675379b7f99320bb6fe187f9bcf6b --- selfdrive/car/ford/radar_interface.py | 2 +- selfdrive/car/ford/values.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/ford/radar_interface.py b/selfdrive/car/ford/radar_interface.py index c942703002..ee4efb311d 100644 --- a/selfdrive/car/ford/radar_interface.py +++ b/selfdrive/car/ford/radar_interface.py @@ -47,7 +47,7 @@ class RadarInterface(RadarInterfaceBase): self.updated_messages = set() self.track_id = 0 self.radar = DBC[CP.carFingerprint]['radar'] - if self.radar is None: + if self.radar is None or CP.radarUnavailable: self.rcp = None elif self.radar == RADAR.DELPHI_ESR: self.rcp = _create_delphi_esr_radar_can_parser() diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 4cabdb11e1..3723fe1d4a 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -60,7 +60,7 @@ class RADAR: DELPHI_MRR = 'FORD_CADS' -DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("ford_lincoln_base_pt", None)) +DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("ford_lincoln_base_pt", RADAR.DELPHI_MRR)) @dataclass