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Ford: Provide detail for zeroed out signals on LateralMotionControl and LateralMotionControl2 signals (#1362) 

Update carcontroller.py
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Isaac 2024-10-10 14:14:27 -04:00 committed by GitHub
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opendbc/car/ford/carcontroller.py
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@ -69,6 +69,11 @@ class CarController(CarControllerBase):
if self.CP.flags & FordFlags.CANFD: if self.CP.flags & FordFlags.CANFD:
# TODO: extended mode # TODO: extended mode
# Ford uses four individual signals to dictate how to drive to the car. Curvature alone (limited to 0.02m/s^2)
# can actuate the steering for a large portion of any lateral movements. However, in order to get further control on
# steer actuation, the other three signals are necessary. Ford controls vehicles differently than most other makes.
# A detailed explanation on ford control can be found here:
# https://www.f150gen14.com/forum/threads/introducing-bluepilot-a-ford-specific-fork-for-comma3x-openpilot.24241/#post-457706
mode = 1 if CC.latActive else 0 mode = 1 if CC.latActive else 0
counter = (self.frame // CarControllerParams.STEER_STEP) % 0x10 counter = (self.frame // CarControllerParams.STEER_STEP) % 0x10
can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter)) can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter))