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@ -2,10 +2,11 @@ |
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from cereal import car |
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from common.conversions import Conversions as CV |
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from selfdrive.car import STD_CARGO_KG, get_safety_config |
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from selfdrive.car.ford.values import CAR, Ecu, TransmissionType, GearShifter |
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from selfdrive.car.ford.values import CAR, Ecu |
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from selfdrive.car.interfaces import CarInterfaceBase |
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CarParams = car.CarParams |
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TransmissionType = car.CarParams.TransmissionType |
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GearShifter = car.CarState.GearShifter |
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class CarInterface(CarInterfaceBase): |
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@ -13,10 +14,10 @@ class CarInterface(CarInterfaceBase): |
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def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): |
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ret.carName = "ford" |
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ret.dashcamOnly = True |
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ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.ford)] |
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)] |
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# Angle-based steering |
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ret.steerControlType = CarParams.SteerControlType.angle |
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ret.steerControlType = car.CarParams.SteerControlType.angle |
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ret.steerActuatorDelay = 0.4 |
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ret.steerLimitTimer = 1.0 |
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