diff --git a/RELEASES.md b/RELEASES.md
index ede5e530c3..7dd53cff84 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -8,19 +8,13 @@ Version 0.9.2 (2023-05-XX)
* Chevrolet Trailblazer 2021-22 support thanks to TurboCE!
* Ford Bronco Sport 2021-22 support
* Ford Escape 2020-22 support
-* Ford Escape Hybrid 2020-22 support
-* Ford Escape Plug-in Hybrid 2021-22 support
* Ford Explorer 2020-22 support
-* Ford Explorer Hybrid 2020-22 support
* Ford Kuga 2020-22 support
-* Ford Kuga Hybrid 2020-22 support
-* Ford Kuga Plug-in Hybrid 2020-22 support
* Genesis GV80 2023 support thanks to JWingate80!
* Honda HR-V 2023 support thanks to AlexandreSato and galegozi!
* Kia Niro EV 2023 support thanks to JosselinLecocq!
* Lexus ES 2017-18 support
* Lincoln Aviator 2021 support
-* Lincoln Aviator Plug-in Hybrid 2021 support
* Škoda Fabia 2022-23 support thanks to jyoung8607!
diff --git a/docs/CARS.md b/docs/CARS.md
index bdf745d2b5..f0ad958536 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@
A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
-# 257 Supported Cars
+# 251 Supported Cars
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -33,13 +33,8 @@ A supported vehicle is one that just works when you install a comma three. All s
|comma|body|All|openpilot|0 mph|0 mph|[](##)|[](##)|None||
|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[](##)|[](##)|Ford Q3||
|Ford|Escape 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[](##)|[](##)|Ford Q3||
-|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[](##)|[](##)|Ford Q3||
-|Ford|Escape Plug-in Hybrid 2021-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[](##)|[](##)|Ford Q3||
|Ford|Explorer 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[](##)|[](##)|Ford Q3||
-|Ford|Explorer Hybrid 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[](##)|[](##)|Ford Q3||
|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|Stock|0 mph|0 mph|[](##)|[](##)|Ford Q3||
-|Ford|Kuga Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|Stock|0 mph|0 mph|[](##)|[](##)|Ford Q3||
-|Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|Stock|0 mph|0 mph|[](##)|[](##)|Ford Q3||
|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai F||
|Genesis|G70 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai F||
|Genesis|G80 2017|All|Stock|19 mph|37 mph|[](##)|[](##)|Hyundai J||
@@ -157,7 +152,6 @@ A supported vehicle is one that just works when you install a comma three. All s
|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
|Lincoln|Aviator 2021|Co-Pilot360 Plus|Stock|0 mph|0 mph|[](##)|[](##)|Ford Q3||
-|Lincoln|Aviator Plug-in Hybrid 2021|Co-Pilot360 Plus|Stock|0 mph|0 mph|[](##)|[](##)|Ford Q3||
|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[](##)|[](##)|J533|
|
|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[](##)|[](##)|J533||
|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[](##)|[](##)|Mazda||
diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py
index 20560b342a..1281b65d1d 100644
--- a/selfdrive/car/ford/carstate.py
+++ b/selfdrive/car/ford/carstate.py
@@ -17,10 +17,16 @@ class CarState(CarStateBase):
self.shifter_values = can_define.dv["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"]
self.vehicle_sensors_valid = False
+ self.hybrid_platform = False
def update(self, cp, cp_cam):
ret = car.CarState.new_message()
+ # Hybrid variants experience a bug where a message from the PCM sends invalid checksums,
+ # we do not support these cars at this time.
+ # TrnAin_Tq_Actl and its quality flag are only set on ICE platform variants
+ self.hybrid_platform = cp.vl["VehicleOperatingModes"]["TrnAinTq_D_Qf"] == 0
+
# Occasionally on startup, the ABS module recalibrates the steering pinion offset, so we need to block engagement
# The vehicle usually recovers out of this state within a minute of normal driving
self.vehicle_sensors_valid = cp.vl["SteeringPinion_Data"]["StePinCompAnEst_D_Qf"] == 3
@@ -99,6 +105,8 @@ class CarState(CarStateBase):
def get_can_parser(CP):
signals = [
# sig_name, sig_address
+ ("TrnAinTq_D_Qf", "VehicleOperatingModes"), # Used to detect hybrid or ICE platform variant
+
("Veh_V_ActlBrk", "BrakeSysFeatures"), # ABS vehicle speed (kph)
("VehYaw_W_Actl", "Yaw_Data_FD1"), # ABS vehicle yaw rate (rad/s)
("VehStop_D_Stat", "DesiredTorqBrk"), # ABS vehicle stopped
@@ -160,6 +168,7 @@ class CarState(CarStateBase):
checks = [
# sig_address, frequency
+ ("VehicleOperatingModes", 100),
("BrakeSysFeatures", 50),
("Yaw_Data_FD1", 100),
("DesiredTorqBrk", 50),
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index df41a8db9d..f74cafdd9a 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -78,6 +78,8 @@ class CarInterface(CarInterfaceBase):
events = self.create_common_events(ret, extra_gears=[GearShifter.manumatic])
if not self.CS.vehicle_sensors_valid:
events.add(car.CarEvent.EventName.vehicleSensorsInvalid)
+ if self.CS.hybrid_platform:
+ events.add(car.CarEvent.EventName.startupNoControl)
ret.events = events.to_msg()
diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
index 00cbb7de00..1ec34b2191 100644
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@@ -72,17 +72,11 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
CAR.BRONCO_SPORT_MK1: FordCarInfo("Ford Bronco Sport 2021-22"),
CAR.ESCAPE_MK4: [
FordCarInfo("Ford Escape 2020-22"),
- FordCarInfo("Ford Escape Hybrid 2020-22"),
- FordCarInfo("Ford Escape Plug-in Hybrid 2021-22"),
FordCarInfo("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering"),
- FordCarInfo("Ford Kuga Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"),
- FordCarInfo("Ford Kuga Plug-in Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"),
],
CAR.EXPLORER_MK6: [
FordCarInfo("Ford Explorer 2020-22"),
- FordCarInfo("Ford Explorer Hybrid 2020-22"),
FordCarInfo("Lincoln Aviator 2021", "Co-Pilot360 Plus"),
- FordCarInfo("Lincoln Aviator Plug-in Hybrid 2021", "Co-Pilot360 Plus"),
],
CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2018", "Adaptive Cruise Control with Lane Centering"),
CAR.MAVERICK_MK1: FordCarInfo("Ford Maverick 2022-23", "Co-Pilot360 Assist"),
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 70506ca9ac..12b78d7ee3 100644
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -358,6 +358,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
# Car is recognized, but marked as dashcam only
EventName.startupNoControl: {
ET.PERMANENT: StartupAlert("Dashcam mode"),
+ ET.NO_ENTRY: NoEntryAlert("Dashcam mode"),
},
# Car is not recognized