From f79c2030e330b28896820efd5153888531cb6cd4 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 18 May 2023 01:05:18 -0700 Subject: [PATCH] add comment, on ford stock long, prchg seems to be set from the possible future accel --- selfdrive/car/ford/fordcan.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py index f8e4435036..78fb6f3b56 100644 --- a/selfdrive/car/ford/fordcan.py +++ b/selfdrive/car/ford/fordcan.py @@ -117,6 +117,7 @@ def create_acc_msg(packer, long_active: bool, gas: float, accel: float, stopping "Cmbb_B_Enbl": 1 if long_active else 0, # Enabled: 0=No, 1=Yes "AccPrpl_A_Rq": gas, # Acceleration request: [-5|5.23] m/s^2 "AccResumEnbl_B_Rq": 1 if long_active else 0, + # TODO: we may be able to improve braking response by utilizing pre-charging "AccBrkPrchg_B_Rq": decel, # Pre-charge brake request: 0=No, 1=Yes "AccBrkDecel_B_Rq": decel, # Deceleration request: 0=Inactive, 1=Active "AccStopStat_B_Rq": 1 if stopping else 0,