Ford: fix counter in LateralMotionControl2 message (#28328)

2 years ago · de5e0d0c71
parent aa3490ac30
commit de5e0d0c71
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@ -70,7 +70,7 @@ class CarController:
      if self.CP.carFingerprint in CANFD_CARS:
        # TODO: extended mode
        mode = 1 if CC.latActive else 0
-        counter = self.frame // CarControllerParams.STEER_STEP
+        counter = (self.frame // CarControllerParams.STEER_STEP) % 0xF
        can_sends.append(create_lat_ctl2_msg(self.packer, mode, 0., 0., -apply_curvature, 0., counter))
      else:
        can_sends.append(create_lat_ctl_msg(self.packer, CC.latActive, 0., 0., -apply_curvature, 0.))