Ford: support hybrid Q3 platforms (#31568)

* bump

* ford: remove dynamic dashcam lockout for hybrids

* releases?

* Revert "releases?"

This reverts commit 88d950043d.

* bump

* Reapply "releases?"

This reverts commit db5079dc3f.

* 097
old-commit-hash: 378ba114f9

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)
 ========================

panda

@@ -1 +1 @@
-Subproject commit b4442a7c930aac112cdd82cddfc3dd12254a56e1
+Subproject commit 6aa4b550336136bc20a6abb307cf310e876eba28

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

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()