diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py index 9f335ea1eb..af80894ff8 100644 --- a/selfdrive/car/ford/fordcan.py +++ b/selfdrive/car/ford/fordcan.py @@ -4,7 +4,7 @@ from selfdrive.car.ford.values import CANBUS HUDControl = car.CarControl.HUDControl -def create_lka_msg(packer, angle_deg: float, curvature: float): +def create_lka_msg(packer): """ Creates a CAN message for the Ford LKA Command. @@ -16,9 +16,9 @@ def create_lka_msg(packer, angle_deg: float, curvature: float): values = { "LkaDrvOvrrd_D_Rq": 0, # driver override level? [0|3] "LkaActvStats_D2_Req": 0, # action [0|7] - "LaRefAng_No_Req": angle_deg, # angle [-102.4|102.3] degrees + "LaRefAng_No_Req": 0, # angle [-102.4|102.3] degrees "LaRampType_B_Req": 0, # Ramp speed: 0=Smooth, 1=Quick - "LaCurvature_No_Calc": curvature, # curvature [-0.01024|0.01023] 1/meter + "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 }