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oh wait it does

This commit is contained in:
Shane Smiskol 2023-10-03 23:24:15 -07:00
parent 8065c6460f
commit 65aa62b642
2 changed files with 5 additions and 1 deletions
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1
board/safety/safety_ford.h
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@ -166,6 +166,7 @@ const LongitudinalLimits FORD_LONG_LIMITS = {
.max_accel = 5641, // 1.9999 m/s^s .max_accel = 5641, // 1.9999 m/s^s
.min_accel = 4231, // -3.4991 m/s^2 .min_accel = 4231, // -3.4991 m/s^2
.inactive_accel = 5128, // -0.0008 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 // TODO: why do tests pass without zero_accel set
// gas cmd limits // gas cmd limits

5
tests/safety/test_ford.py
View File

@ -384,7 +384,7 @@ class TestFordCANFDStockSafety(TestFordSafetyBase):
self.safety.init_tests() 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, FWD_BLACKLISTED_ADDRS = {2: [MSG_ACCDATA, MSG_ACCDATA_3, MSG_Lane_Assist_Data1, MSG_LateralMotionControl,
MSG_LateralMotionControl2, MSG_IPMA_Data]} MSG_LateralMotionControl2, MSG_IPMA_Data]}
@ -428,6 +428,9 @@ class TestFordLongitudinalSafetyBase(TestFordSafetyBase):
should_tx = (controls_allowed and self.MIN_GAS <= gas <= self.MAX_GAS) or gas == self.INACTIVE_GAS 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))) 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): def test_brake_safety_check(self):
for controls_allowed in (True, False): for controls_allowed in (True, False):
self.safety.set_controls_allowed(controls_allowed) self.safety.set_controls_allowed(controls_allowed)