diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index a7d1b37505..c4284f54c5 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -4,7 +4,7 @@ from panda import Panda from common.conversions import Conversions as CV from selfdrive.car import STD_CARGO_KG, get_safety_config from selfdrive.car.ford.fordcan import CanBus -from selfdrive.car.ford.values import CAR, Ecu +from selfdrive.car.ford.values import CANFD_CARS, CAR, Ecu from selfdrive.car.interfaces import CarInterfaceBase TransmissionType = car.CarParams.TransmissionType @@ -32,6 +32,9 @@ class CarInterface(CarInterfaceBase): ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_LONG_CONTROL ret.openpilotLongitudinalControl = True + if candidate in CANFD_CARS: + ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_CANFD + if candidate == CAR.BRONCO_SPORT_MK1: ret.wheelbase = 2.67 ret.steerRatio = 17.7