diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py index 2276b1208a..215900fef6 100644 --- a/selfdrive/car/ford/carstate.py +++ b/selfdrive/car/ford/carstate.py @@ -118,7 +118,7 @@ class CarState(CarStateBase): ("DrStatRl_B_Actl", "BodyInfo_3_FD1"), # BCM Door open, rear left ("DrStatRr_B_Actl", "BodyInfo_3_FD1"), # BCM Door open, rear right ("FirstRowBuckleDriver", "RCMStatusMessage2_FD1"), # RCM Seatbelt status, driver - ("HeadLghtHiFlash_D_Stat", "Steering_Data_FD1"), # SCCM Passthru the remaining buttons + ("HeadLghtHiFlash_D_Stat", "Steering_Data_FD1"), # SCCM Passthrough the remaining buttons ("WiprFront_D_Stat", "Steering_Data_FD1"), ("LghtAmb_D_Sns", "Steering_Data_FD1"), ("AccButtnGapDecPress", "Steering_Data_FD1"), diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index f3d77bc05a..b0e97677b5 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -2,10 +2,11 @@ from cereal import car from common.conversions import Conversions as CV from selfdrive.car import STD_CARGO_KG, get_safety_config -from selfdrive.car.ford.values import CAR, Ecu, TransmissionType, GearShifter +from selfdrive.car.ford.values import CAR, Ecu from selfdrive.car.interfaces import CarInterfaceBase -CarParams = car.CarParams +TransmissionType = car.CarParams.TransmissionType +GearShifter = car.CarState.GearShifter class CarInterface(CarInterfaceBase): @@ -13,10 +14,10 @@ class CarInterface(CarInterfaceBase): def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): ret.carName = "ford" ret.dashcamOnly = True - ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.ford)] + ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)] # Angle-based steering - ret.steerControlType = CarParams.SteerControlType.angle + ret.steerControlType = car.CarParams.SteerControlType.angle ret.steerActuatorDelay = 0.4 ret.steerLimitTimer = 1.0 diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 0e6ef464b3..87cb98878d 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -9,9 +9,6 @@ from selfdrive.car.docs_definitions import CarInfo, Harness from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu -TransmissionType = car.CarParams.TransmissionType -GearShifter = car.CarState.GearShifter - AngleRateLimit = namedtuple('AngleRateLimit', ['speed_points', 'max_angle_diff_points'])