diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py index af80894ff8..c3f6e74651 100644 --- a/selfdrive/car/ford/fordcan.py +++ b/selfdrive/car/ford/fordcan.py @@ -6,23 +6,14 @@ HUDControl = car.CarControl.HUDControl def create_lka_msg(packer): """ - Creates a CAN message for the Ford LKA Command. + Creates an empty CAN message for the Ford LKA Command. This command can apply "Lane Keeping Aid" manoeuvres, which are subject to the PSCM lockout. Frequency is 20Hz. """ - values = { - "LkaDrvOvrrd_D_Rq": 0, # driver override level? [0|3] - "LkaActvStats_D2_Req": 0, # action [0|7] - "LaRefAng_No_Req": 0, # angle [-102.4|102.3] degrees - "LaRampType_B_Req": 0, # Ramp speed: 0=Smooth, 1=Quick - "LaCurvature_No_Calc": 0, # curvature [-0.01024|0.01023] 1/meter - "LdwActvStats_D_Req": 0, # LDW status [0|7] - "LdwActvIntns_D_Req": 0, # LDW intensity [0|3], shake alert strength - } - return packer.make_can_msg("Lane_Assist_Data1", CANBUS.main, values) + return packer.make_can_msg("Lane_Assist_Data1", CANBUS.main, {}) def create_lat_ctl_msg(packer, lca_rq: int, ramp_type: int, precision: int, path_offset: float, path_angle: float,