From ffb34e558fe369bb5a5d6d7ff476c3b8e601f6db Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 21 May 2024 23:21:31 -0700 Subject: [PATCH] Revert "Ford: detect missing LKAS from EPS configuration (#31821)" This reverts commit 9f327aeb4824576497a57f077fe9b8243b95e8c0. --- selfdrive/car/ford/interface.py | 12 ------------ 1 file changed, 12 deletions(-) diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index 1ae57965e7..7dca458083 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -39,18 +39,6 @@ class CarInterface(CarInterfaceBase): if ret.flags & FordFlags.CANFD: ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_CANFD - else: - # Lock out if the car does not have needed lateral and longitudinal control APIs. - # Note that we also check CAN for adaptive cruise, but no known signal for LCA exists - pscm_config = next((fw for fw in car_fw if fw.ecu == Ecu.eps and b'\x22\xDE\x01' in fw.request), None) - if pscm_config: - if len(pscm_config.response) != 24: - ret.dashcamOnly = True - else: - config_tja = pscm_config.response[7] # Traffic Jam Assist - config_lca = pscm_config.response[8] # Lane Centering Assist - if config_tja != 0xFF or config_lca != 0xFF: - ret.dashcamOnly = True # Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1 found_ecus = [fw.ecu for fw in car_fw]