From b9980e5bcc744c00d5c295e840ea7098384caf59 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Sun, 10 Mar 2024 04:54:54 +0000 Subject: [PATCH] Ford: fix counter in LateralMotionControl2 message (#31806) The counter should be between 0-15 inclusive. This only affects CAN FD cars. old-commit-hash: 682f16d1b5c9c5d618711d864a16efde80af8e14 --- selfdrive/car/ford/carcontroller.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index 390325a8ec..7ce2ded6e3 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -73,7 +73,7 @@ class CarController(CarControllerBase): if self.CP.flags & FordFlags.CANFD: # TODO: extended mode mode = 1 if CC.latActive else 0 - counter = (self.frame // CarControllerParams.STEER_STEP) % 0xF + counter = (self.frame // CarControllerParams.STEER_STEP) % 0x10 can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter)) else: can_sends.append(fordcan.create_lat_ctl_msg(self.packer, self.CAN, CC.latActive, 0., 0., -apply_curvature, 0.))