Ford: set lateral ramp type to 0 (#27106)

set ramp type always to 0

selfdrive/car/ford/carcontroller.py

@@ -54,22 +54,9 @@ class CarController:
       else:
         apply_curvature = 0.
 
-      # set slower ramp type when small steering angle change
-      # 0=Slow, 1=Medium, 2=Fast, 3=Immediately
-      steer_change = abs(CS.out.steeringAngleDeg - actuators.steeringAngleDeg)
-      if steer_change < 2.5:
-        ramp_type = 0
-      elif steer_change < 5.0:
-        ramp_type = 1
-      elif steer_change < 7.5:
-        ramp_type = 2
-      else:
-        ramp_type = 3
-      precision = 1  # 0=Comfortable, 1=Precise (the stock system always uses comfortable)
-
       self.apply_curvature_last = apply_curvature
       can_sends.append(create_lka_msg(self.packer))
-      can_sends.append(create_lat_ctl_msg(self.packer, CC.latActive, ramp_type, precision, 0., 0., -apply_curvature, 0.))
+      can_sends.append(create_lat_ctl_msg(self.packer, CC.latActive, 0., 0., -apply_curvature, 0.))
 
     ### ui ###
     send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)

selfdrive/car/ford/fordcan.py

@@ -16,8 +16,7 @@ def create_lka_msg(packer):
   return packer.make_can_msg("Lane_Assist_Data1", CANBUS.main, {})
 
 
-def create_lat_ctl_msg(packer, lat_active: bool, ramp_type: int, precision: int, path_offset: float, path_angle: float,
+def create_lat_ctl_msg(packer, lat_active: bool, path_offset: float, path_angle: float, curvature: float, curvature_rate: float):
-                       curvature: float, curvature_rate: float):
   """
   Creates a CAN message for the Ford TJA/LCA Command.
 
@@ -44,8 +43,10 @@ def create_lat_ctl_msg(packer, lat_active: bool, ramp_type: int, precision: int,
     "HandsOffCnfm_B_Rq": 0,                     # Unknown: 0=Inactive, 1=Active [0|1]
     "LatCtl_D_Rq": 1 if lat_active else 0,      # Mode: 0=None, 1=ContinuousPathFollowing, 2=InterventionLeft,
                                                 #       3=InterventionRight, 4-7=NotUsed [0|7]
-    "LatCtlRampType_D_Rq": ramp_type,           # Ramp speed: 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3]
+    "LatCtlRampType_D_Rq": 0,                   # Ramp speed: 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3]
-    "LatCtlPrecision_D_Rq": precision,          # Precision: 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3]
+                                                #             Makes no difference with curvature control
+    "LatCtlPrecision_D_Rq": 1,                  # Precision: 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3]
+                                                #            The stock system always uses comfortable
     "LatCtlPathOffst_L_Actl": path_offset,      # Path offset [-5.12|5.11] meter
     "LatCtlPath_An_Actl": path_angle,           # Path angle [-0.5|0.5235] radians
     "LatCtlCurv_NoRate_Actl": curvature_rate,   # Curvature rate [-0.001024|0.00102375] 1/meter^2