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Ford: don't check vehicle roll quality flag (#1461)

This commit is contained in:
Cameron Clough 2023-06-17 01:11:21 +01:00 committed by GitHub
parent c6283759e6
commit 55ef91d9ab
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 2 additions and 2 deletions
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2
board/safety/safety_ford.h
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@ -126,7 +126,7 @@ static bool ford_get_quality_flag_valid(CANPacket_t *to_push) {
} else if (addr == MSG_EngVehicleSpThrottle2) {
valid = ((GET_BYTE(to_push, 4) >> 5) & 0x3U) == 0x3U; // VehVActlEng_D_Qf
} else if (addr == MSG_Yaw_Data_FD1) {
valid = (GET_BYTE(to_push, 6) >> 4) == 0xFU; // VehRolWActl_D_Qf & VehYawWActl_D_Qf
valid = ((GET_BYTE(to_push, 6) >> 4) & 0x3U) == 0x3U; // VehYawWActl_D_Qf
} else {
}
return valid;

2
tests/safety/test_ford.py
View File

@ -131,7 +131,7 @@ class TestFordSafetyBase(common.PandaSafetyTest):
# Current curvature
def _yaw_rate_msg(self, curvature: float, speed: float, quality_flag=True):
values = {"VehYaw_W_Actl": curvature * speed, "VehYawWActl_D_Qf": 3 if quality_flag else 0,
"VehRolWActl_D_Qf": 3 if quality_flag else 0, "VehRollYaw_No_Cnt": self.cnt_yaw_rate % 256}
"VehRollYaw_No_Cnt": self.cnt_yaw_rate % 256}
self.__class__.cnt_yaw_rate += 1
return self.packer.make_can_msg_panda("Yaw_Data_FD1", 0, values, fix_checksum=checksum)