From e373d76cc359e66cd511f7d8449212ab89382d45 Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Thu, 4 May 2023 23:51:14 -0700
Subject: [PATCH] set safety config/configure experimental longitudinal

---
 selfdrive/car/ford/interface.py | 12 ++++++++++--
 1 file changed, 10 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index 937980899f..380a2bf268 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 from cereal import car
+from panda import Panda
 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
@@ -13,18 +14,25 @@ class CarInterface(CarInterfaceBase):
   @staticmethod
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "ford"
-    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)]
+    ret.radarUnavailable = True
 
     # These cars are dashcam only for lack of test coverage.
     # Once a user confirms each car works and a test route is
     # added to selfdrive/car/tests/routes.py, we can remove it from this list.
     ret.dashcamOnly = candidate in {CAR.FOCUS_MK4}
 
-    ret.radarUnavailable = True
+    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)]
+
     ret.steerControlType = car.CarParams.SteerControlType.angle
     ret.steerActuatorDelay = 0.2
     ret.steerLimitTimer = 1.0
 
+    ret.experimentalLongitudinalAvailable = True
+    if experimental_long:
+      # Panda ALLOW_DEBUG firmware required
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_FORD_LONG_CONTROL
+      ret.openpilotLongitudinalControl = True
+
     if candidate == CAR.BRONCO_SPORT_MK1:
       ret.wheelbase = 2.67
       ret.steerRatio = 17.7