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Ford: hybrids are unsupported (#28171)

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* hybrid fords are dashcammed

* something like this?

* just do an alert

* good comment

* space

* bb

bb

* top

* Update selfdrive/car/ford/interface.py

* add a noEntry

* remove from release notes

* sad :(

---------

Co-authored-by: Cameron Clough <cameronjclough@gmail.com>
old-commit-hash: 344064d6bd
beeps
Shane Smiskol 2 years ago committed by GitHub
parent 472a1cf63b
commit 298e7466f5
6 changed files with 13 additions and 19 deletions
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  1. 6
      RELEASES.md
  2. 8
      docs/CARS.md
  3. 9
      selfdrive/car/ford/carstate.py
  4. 2
      selfdrive/car/ford/interface.py
  5. 6
      selfdrive/car/ford/values.py
  6. 1
      selfdrive/controls/lib/events.py

6
RELEASES.md
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@ -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!

8
docs/CARS.md
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@ -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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Bronco Sport 2021-22">Ford Q3</a>||
|Ford|Escape 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Escape 2020-22">Ford Q3</a>||
|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Escape Hybrid 2020-22">Ford Q3</a>||
|Ford|Escape Plug-in Hybrid 2021-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Escape Plug-in Hybrid 2021-22">Ford Q3</a>||
|Ford|Explorer 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Explorer 2020-22">Ford Q3</a>||
|Ford|Explorer Hybrid 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Explorer Hybrid 2020-22">Ford Q3</a>||
|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Kuga 2020-22">Ford Q3</a>||
|Ford|Kuga Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Kuga Hybrid 2020-22">Ford Q3</a>||
|Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Kuga Plug-in Hybrid 2020-22">Ford Q3</a>||
|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2018-19">Hyundai F</a>||
|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2020">Hyundai F</a>||
|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2017">Hyundai J</a>||
@ -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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2020-21">Toyota</a>||
|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=UX Hybrid 2019-22">Toyota</a>||
|Lincoln|Aviator 2021|Co-Pilot360 Plus|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lincoln&model=Aviator 2021">Ford Q3</a>||
|Lincoln|Aviator Plug-in Hybrid 2021|Co-Pilot360 Plus|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lincoln&model=Aviator Plug-in Hybrid 2021">Ford Q3</a>||
|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=MAN&model=eTGE 2020-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=MAN&model=TGE 2017-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-5 2022-23">Mazda</a>||

9
selfdrive/car/ford/carstate.py
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@ -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),

2
selfdrive/car/ford/interface.py
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@ -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()

6
selfdrive/car/ford/values.py
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@ -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"),

1
selfdrive/controls/lib/events.py
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@ -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

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