From ce4784925e181ae8a277cd4fc885a7ebceb5ea8a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 23 Feb 2024 23:22:34 -0600 Subject: [PATCH] Ford: support hybrid Q3 platforms (#31568) * bump * ford: remove dynamic dashcam lockout for hybrids * releases? * Revert "releases?" This reverts commit 88d950043d79b8c00535f48ed84b854bc2ab2557. * bump * Reapply "releases?" This reverts commit db5079dc3f1a6bce70bd04430be45704d8604e76. * 097 old-commit-hash: 378ba114f9d4852374d76c7ebc0318a80cd29c43 --- RELEASES.md | 1 + panda | 2 +- selfdrive/car/ford/carstate.py | 7 ------- selfdrive/car/ford/interface.py | 2 -- 4 files changed, 2 insertions(+), 10 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index 096fa691ac..d0fd530db1 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,6 +1,7 @@ Version 0.9.7 (2024-XX-XX) ======================== * New driving model +* Support for many hybrid Ford models Version 0.9.6 (2024-02-27) ======================== diff --git a/panda b/panda index b4442a7c93..6aa4b55033 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit b4442a7c930aac112cdd82cddfc3dd12254a56e1 +Subproject commit 6aa4b550336136bc20a6abb307cf310e876eba28 diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py index ef56d23d79..34006e8da4 100644 --- a/selfdrive/car/ford/carstate.py +++ b/selfdrive/car/ford/carstate.py @@ -18,17 +18,10 @@ class CarState(CarStateBase): self.shifter_values = can_define.dv["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"] self.vehicle_sensors_valid = False - self.unsupported_platform = False def update(self, cp, cp_cam): ret = car.CarState.new_message() - # Ford Q3 hybrid variants experience a bug where a message from the PCM sends invalid checksums, - # this must be root-caused before enabling support. Ford Q4 hybrids do not have this problem. - # TrnAin_Tq_Actl and its quality flag are only set on ICE platform variants - self.unsupported_platform = (cp.vl["VehicleOperatingModes"]["TrnAinTq_D_Qf"] == 0 and - self.CP.carFingerprint not in CANFD_CAR) - # Occasionally on startup, the ABS module recalibrates the steering pinion offset, so we need to block engagement # The vehicle usually recovers out of this state within a minute of normal driving self.vehicle_sensors_valid = cp.vl["SteeringPinion_Data"]["StePinCompAnEst_D_Qf"] == 3 diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index cc013fb54b..685a2a27ad 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -109,8 +109,6 @@ class CarInterface(CarInterfaceBase): events = self.create_common_events(ret, extra_gears=[GearShifter.manumatic]) if not self.CS.vehicle_sensors_valid: events.add(car.CarEvent.EventName.vehicleSensorsInvalid) - if self.CS.unsupported_platform: - events.add(car.CarEvent.EventName.startupNoControl) ret.events = events.to_msg()