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Ford: add Escape test route and remove dashcam only (#28113)

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* Ford: add Escape Mk4 test route

* generate docs

* remove from non_tested

* fix model years

* clearer packages for EU

* docs

* 2020 hybrid

26b2cace68e36212

1FMCU9DZ9LUA82589

* 2021 phev

1FMCU0LZXMUA80767

f8eaaccd2a90aef8

* add this too

* more docs
pull/28123/head
Cameron Clough 2 years ago committed by GitHub
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commit a0d2e4e711
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  1. 8
      docs/CARS.md
  2. 2
      selfdrive/car/ford/interface.py
  3. 10
      selfdrive/car/ford/values.py
  4. 2
      selfdrive/car/tests/routes.py

8
docs/CARS.md
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@ -4,7 +4,7 @@
A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
# 248 Supported Cars # 254 Supported Cars
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video| |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@ -32,7 +32,13 @@ A supported vehicle is one that just works when you install a comma three. All s
|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2019-23">FCA</a>|| |Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2019-23">FCA</a>||
|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|| |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Bronco Sport 2021-22">Ford Q3</a>|| |Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Bronco Sport 2021-22">Ford Q3</a>||
|Ford|Escape 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Escape 2020-22">Ford Q3</a>||
|Ford|Escape Hybrid 2020|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Escape Hybrid 2020">Ford Q3</a>||
|Ford|Escape Plug-in Hybrid 2021-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Escape Plug-in Hybrid 2021-22">Ford Q3</a>||
|Ford|Explorer 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Explorer 2020-22">Ford Q3</a>|| |Ford|Explorer 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Explorer 2020-22">Ford Q3</a>||
|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Kuga 2020-22">Ford Q3</a>||
|Ford|Kuga 2020-22 Hybrid|Adaptive Cruise Control with Lane Centering|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Kuga 2020-22 Hybrid">Ford Q3</a>||
|Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Kuga Plug-in Hybrid 2020-22">Ford Q3</a>||
|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2018-19">Hyundai F</a>|| |Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2018-19">Hyundai F</a>||
|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2020">Hyundai F</a>|| |Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2020">Hyundai F</a>||
|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2017">Hyundai J</a>|| |Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2017">Hyundai J</a>||

2
selfdrive/car/ford/interface.py
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@ -18,7 +18,7 @@ class CarInterface(CarInterfaceBase):
# These cars are dashcam only for lack of test coverage. # These cars are dashcam only for lack of test coverage.
# Once a user confirms each car works and a test route is # Once a user confirms each car works and a test route is
# added to selfdrive/car/tests/routes.py, we can remove it from this list. # added to selfdrive/car/tests/routes.py, we can remove it from this list.
ret.dashcamOnly = candidate in {CAR.ESCAPE_MK4, CAR.FOCUS_MK4, CAR.MAVERICK_MK1} ret.dashcamOnly = candidate in {CAR.FOCUS_MK4, CAR.MAVERICK_MK1}
ret.radarUnavailable = True ret.radarUnavailable = True
ret.steerControlType = car.CarParams.SteerControlType.angle ret.steerControlType = car.CarParams.SteerControlType.angle

10
selfdrive/car/ford/values.py
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@ -72,16 +72,18 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
CAR.BRONCO_SPORT_MK1: FordCarInfo("Ford Bronco Sport 2021-22"), CAR.BRONCO_SPORT_MK1: FordCarInfo("Ford Bronco Sport 2021-22"),
CAR.ESCAPE_MK4: [ CAR.ESCAPE_MK4: [
FordCarInfo("Ford Escape 2020-22"), FordCarInfo("Ford Escape 2020-22"),
FordCarInfo("Ford Escape Plug-in Hybrid 2020-22"), FordCarInfo("Ford Escape Hybrid 2020"),
FordCarInfo("Ford Kuga 2020-21", "Driver Assistance Pack"), FordCarInfo("Ford Escape Plug-in Hybrid 2021-22"),
FordCarInfo("Ford Kuga Plug-in Hybrid 2020-22", "Driver Assistance Pack"), FordCarInfo("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering"),
FordCarInfo("Ford Kuga 2020-22 Hybrid", "Adaptive Cruise Control with Lane Centering"),
FordCarInfo("Ford Kuga Plug-in Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"),
], ],
CAR.EXPLORER_MK6: [ CAR.EXPLORER_MK6: [
FordCarInfo("Ford Explorer 2020-22"), FordCarInfo("Ford Explorer 2020-22"),
FordCarInfo("Lincoln Aviator 2021", "Co-Pilot360 Plus"), FordCarInfo("Lincoln Aviator 2021", "Co-Pilot360 Plus"),
FordCarInfo("Lincoln Aviator Plug-in Hybrid 2021", "Co-Pilot360 Plus"), FordCarInfo("Lincoln Aviator Plug-in Hybrid 2021", "Co-Pilot360 Plus"),
], ],
CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2018", "Driver Assistance Pack"), CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2018", "Adaptive Cruise Control with Lane Centering"),
CAR.MAVERICK_MK1: FordCarInfo("Ford Maverick 2022-23", "Co-Pilot360 Assist"), CAR.MAVERICK_MK1: FordCarInfo("Ford Maverick 2022-23", "Co-Pilot360 Assist"),
} }

2
selfdrive/car/tests/routes.py
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@ -16,7 +16,6 @@ from selfdrive.car.body.values import CAR as COMMA
# TODO: add routes for these cars # TODO: add routes for these cars
non_tested_cars = [ non_tested_cars = [
FORD.ESCAPE_MK4,
FORD.FOCUS_MK4, FORD.FOCUS_MK4,
FORD.MAVERICK_MK1, FORD.MAVERICK_MK1,
GM.CADILLAC_ATS, GM.CADILLAC_ATS,
@ -47,6 +46,7 @@ routes = [
CarTestRoute("8fb5eabf914632ae|2022-08-04--17-28-53", CHRYSLER.RAM_HD, segment=6), CarTestRoute("8fb5eabf914632ae|2022-08-04--17-28-53", CHRYSLER.RAM_HD, segment=6),
CarTestRoute("54827bf84c38b14f|2023-01-25--14-14-11", FORD.BRONCO_SPORT_MK1), CarTestRoute("54827bf84c38b14f|2023-01-25--14-14-11", FORD.BRONCO_SPORT_MK1),
CarTestRoute("f8eaaccd2a90aef8|2023-05-04--15-10-09", FORD.ESCAPE_MK4),
CarTestRoute("62241b0c7fea4589|2022-09-01--15-32-49", FORD.EXPLORER_MK6), CarTestRoute("62241b0c7fea4589|2022-09-01--15-32-49", FORD.EXPLORER_MK6),
#TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION), #TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION),

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