From fd90b74ea1cb5d4af1f48cc9e0fa5471c076dccc Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 12 Feb 2024 21:20:49 -0600 Subject: [PATCH] Ford: log traction control status (#31424) * not sure which to use * cluster changes a bit earlier andis already used for nonAdaptive old-commit-hash: cabde52ac6124ac2ae4259a51bc67dc1e3769bec --- selfdrive/car/ford/carstate.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py index 9230d16ef9..ef56d23d79 100644 --- a/selfdrive/car/ford/carstate.py +++ b/selfdrive/car/ford/carstate.py @@ -54,7 +54,7 @@ class CarState(CarStateBase): ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE, 5) ret.steerFaultTemporary = cp.vl["EPAS_INFO"]["EPAS_Failure"] == 1 ret.steerFaultPermanent = cp.vl["EPAS_INFO"]["EPAS_Failure"] in (2, 3) - # ret.espDisabled = False # TODO: find traction control signal + ret.espDisabled = cp.vl["Cluster_Info1_FD1"]["DrvSlipCtlMde_D_Rq"] != 0 # 0 is default mode if self.CP.carFingerprint in CANFD_CAR: # this signal is always 0 on non-CAN FD cars