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Ford: consolidate comments about unsupported hybrid platforms (#30709)

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* fix typo, move comments to one place

* -appear

* Update selfdrive/car/ford/carstate.py
old-commit-hash: 77066a226068ea933b565b9521c26a99c72e7a6a
This commit is contained in:
Shane Smiskol
2023-12-12 20:37:37 -08:00
committed by GitHub
parent 390e75b3bd
commit eb642a1704
2 changed files with 6 additions and 7 deletions
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9
selfdrive/car/ford/carstate.py
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@@ -18,15 +18,16 @@ class CarState(CarStateBase):
self.shifter_values = can_define.dv["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"]
self.vehicle_sensors_valid = False
self.hybrid_platform = False
self.unsupported_platform = False
def update(self, cp, cp_cam):
ret = car.CarState.new_message()
# Hybrid variants experience a bug where a message from the PCM sends invalid checksums,
# we do not support these cars at this time.
# Ford Q3 hybrid variants experience a bug where a message from the PCM sends invalid checksums,
# this must be root-caused before enabling support. Ford Q4 hybrids do not have this problem.
# TrnAin_Tq_Actl and its quality flag are only set on ICE platform variants
self.hybrid_platform = cp.vl["VehicleOperatingModes"]["TrnAinTq_D_Qf"] == 0
self.unsupported_platform = (cp.vl["VehicleOperatingModes"]["TrnAinTq_D_Qf"] == 0 and
self.CP.carFingerprint not in CANFD_CAR)
# Occasionally on startup, the ABS module recalibrates the steering pinion offset, so we need to block engagement
# The vehicle usually recovers out of this state within a minute of normal driving

4
selfdrive/car/ford/interface.py
View File

@@ -100,9 +100,7 @@ class CarInterface(CarInterfaceBase):
events = self.create_common_events(ret, extra_gears=[GearShifter.manumatic])
if not self.CS.vehicle_sensors_valid:
events.add(car.CarEvent.EventName.vehicleSensorsInvalid)
# Ford Q3 Hybrids are disabled due to occasional incorrect checksums some stock messages. This must be root caused before enabling support.
if self.CS.hybrid_platform and self.CP.carFingerprint not in CANFD_CAR:
if self.CS.unsupported_platform:
events.add(car.CarEvent.EventName.startupNoControl)
ret.events = events.to_msg()