From 2d7df6ea9f0d2b13cf7a29aecb86d0d5cc7d1358 Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Wed, 14 Feb 2024 19:01:46 +0000
Subject: [PATCH] not present on Q4

---
 selfdrive/car/ford/carstate.py | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py
index de37a85a92..3344e326b0 100644
--- a/selfdrive/car/ford/carstate.py
+++ b/selfdrive/car/ford/carstate.py
@@ -57,7 +57,7 @@ class CarState(CarStateBase):
       ret.steerFaultTemporary |= cp.vl["Lane_Assist_Data3_FD1"]["LatCtlSte_D_Stat"] not in (1, 2, 3)
 
     # cruise state
-    is_metric = cp.vl["INSTRUMENT_PANEL"]["METRIC_UNITS"] == 1
+    is_metric = cp.vl["INSTRUMENT_PANEL"]["METRIC_UNITS"] == 1 if not self.CP.flags & FordFlags.CANFD else False
     ret.cruiseState.speed = cp.vl["EngBrakeData"]["Veh_V_DsplyCcSet"] * (CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS)
     ret.cruiseState.enabled = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (4, 5)
     ret.cruiseState.available = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (3, 4, 5)
@@ -121,7 +121,6 @@ class CarState(CarStateBase):
       ("BrakeSnData_4", 50),
       ("EngBrakeData", 10),
       ("Cluster_Info1_FD1", 10),
-      ("INSTRUMENT_PANEL", 10),
       ("SteeringPinion_Data", 100),
       ("EPAS_INFO", 50),
       ("Steering_Data_FD1", 10),
@@ -133,6 +132,10 @@ class CarState(CarStateBase):
       messages += [
         ("Lane_Assist_Data3_FD1", 33),
       ]
+    else:
+      messages += [
+        ("INSTRUMENT_PANEL", 10),
+      ]
 
     if CP.transmissionType == TransmissionType.automatic:
       messages += [