Adding support for Ford vehicles #20
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looks good to me @coffee-cake-isaac |
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though nnff should be gated behind a toggle as well, so this check should only need to run if the toggle is selected already |
This code was already running when NNFF was not selected. @FrogAi Do you want to implement the settings check for this to be NNFF bound only or do you want me to? |
Fixed spacing Replacing hybrid Ford Vehicle Support Adding support for Ford vehicles Update fordcan.py Only init torque params if vehicle does not use angle steering Reverting controls back to FP stock as the change is no longer needed. Update interfaces.py Update interface.py Update values.py Update interfaces.py Reverting controls back to FP stock as the change is no longer needed. Only init torque params if vehicle does not use angle steering Update fordcan.py
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Merged this into "FrogPilot-Development" and I'll try and get this added to the next release. |
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Ford Support
This adds support for Ford vehicles with actual firmwares obtained from fw queries.
Heads Up
This does require a change to Panda code. This code was created by Shane here: commaai/panda#1524
I'm not well versed in this area, so I can't say if this will have any adverse effects but I did want to bring it to light just in case.
Hybrid Checksum Mismatch
Otherwise, this just simply adds the F150 Lightning support and allows the hybrids (which have a checksum error and will cause controls mismatch) in dash cam mode.
NNFF Error on previous PR
Additionally, this addresses an issue with NNFF from @ twilsonco. This is just checking if the CP has the attribute, and if it doesn't we just have a false statement. This will mean it looks like it's never undershooting or turning. However, Ford operates entirely on curvature/path sent to the PSCM where it takes in additional params (yaw/roll/etc) and in conjunction with the EPS decides how to steer. So, we're not really using any desired lateral acceleration here.