oh wait it does

commaai · Oct 4, 2023 · 65aa62b · 65aa62b
1 parent 8065c64
commit 65aa62b
Show file tree

Hide file tree

Showing 2 changed files with 5 additions and 1 deletion.
diff --git a/board/safety/safety_ford.h b/board/safety/safety_ford.h
@@ -166,6 +166,7 @@ const LongitudinalLimits FORD_LONG_LIMITS = {
   .max_accel = 5641,       //  1.9999 m/s^s
   .min_accel = 4231,       // -3.4991 m/s^2
   .inactive_accel = 5128,  // -0.0008 m/s^2
+  .zero_accel = 5128,  // -0.0008 m/s^2
   // TODO: why do tests pass without zero_accel set
 
   // gas cmd limits

diff --git a/tests/safety/test_ford.py b/tests/safety/test_ford.py
@@ -384,7 +384,7 @@ def setUp(self):
     self.safety.init_tests()
 
 
-class TestFordLongitudinalSafetyBase(TestFordSafetyBase):
+class TestFordLongitudinalSafetyBase(TestFordSafetyBase, common.LongitudinalAccelSafetyTest):
   FWD_BLACKLISTED_ADDRS = {2: [MSG_ACCDATA, MSG_ACCDATA_3, MSG_Lane_Assist_Data1, MSG_LateralMotionControl,
                                MSG_LateralMotionControl2, MSG_IPMA_Data]}
 
@@ -428,6 +428,9 @@ def test_gas_safety_check(self):
         should_tx = (controls_allowed and self.MIN_GAS <= gas <= self.MAX_GAS) or gas == self.INACTIVE_GAS
         self.assertEqual(should_tx, self._tx(self._acc_command_msg(gas, self.INACTIVE_ACCEL)))
 
+  def _accel_msg(self, accel: float):
+    return self._acc_command_msg(self.INACTIVE_GAS, accel)
+
   def test_brake_safety_check(self):
     for controls_allowed in (True, False):
       self.safety.set_controls_allowed(controls_allowed)