Ford: remove ramp type param

commaai · Jan 11, 2022 · c8696e4 · c8696e4
1 parent 979692e
commit c8696e4
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Showing 2 changed files with 6 additions and 18 deletions.
diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
@@ -6,8 +6,6 @@
 from selfdrive.car.ford.values import CarControllerParams
 from opendbc.can.packer import CANPacker
 
-DEBUG_RAMP_TYPE = False
-
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
 
@@ -38,8 +36,6 @@ def __init__(self, dbc_name, CP, VM):
     self.steer_alert_last = False
     self.generic_toggle_last = False
 
-    self.ramp_type = 1
-
   def update(self, enabled, CS, frame, actuators, cruise_cancel, visual_alert):
     can_sends = []
     main_on = CS.out.cruiseState.available
@@ -57,14 +53,6 @@ def update(self, enabled, CS, frame, actuators, cruise_cancel, visual_alert):
       # cancel stock ACC
       can_sends.append(fordcan.spam_cancel_button(self.packer))
 
-    if CS.out.genericToggle and not self.generic_toggle_last:
-      # ramp type experiment
-      if DEBUG_RAMP_TYPE:
-        # TODO: stock varies this with distance from center
-        self.ramp_type += 1
-        if self.ramp_type > 3:
-          self.ramp_type = 0
-
     if (frame % self.params.LKAS_STEER_STEP) == 0:
       lca_rq = 1 if enabled else 0
       apply_steer_rad = apply_steer * CV.DEG_TO_RAD
@@ -74,7 +62,7 @@ def update(self, enabled, CS, frame, actuators, cruise_cancel, visual_alert):
 
       # send steering commands
       can_sends.append(fordcan.create_steer_command(self.packer, apply_steer, curvature))
-      can_sends.append(fordcan.create_steer2_command(self.packer, lca_rq, self.ramp_type, apply_steer_rad, curvature))
+      can_sends.append(fordcan.create_steer2_command(self.packer, lca_rq, apply_steer_rad, curvature))
 
     # TODO: do we need to send when values change? is 1hz acceptable?
     if (frame % self.params.LKAS_UI_STEP) == 0 or (self.main_on_last != main_on) or (self.enabled_last != enabled) or \

diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py
@@ -14,15 +14,15 @@ def create_steer_command(packer, angle_deg: float, curvature: float):
     "LkaDrvOvrrd_D_Rq": 0,              # driver override level? [0|3]
     "LkaActvStats_D2_Req": 0,           # action [0|7]
     "LaRefAng_No_Req": angle_deg,       # angle [-102.4|102.3] degrees
-    "LaRampType_B_Req": 0,              # ramp type [0|1]
+    "LaRampType_B_Req": 0,              # Ramp speed: 0=Smooth, 1=Quick
     "LaCurvature_No_Calc": curvature,   # curvature [-0.01024|0.01023] 1/meter
     "LdwActvStats_D_Req": 0,            # LDW status [0|7]
-    "LdwActvIntns_D_Req": 0,            # LDW intensity [0|3]
+    "LdwActvIntns_D_Req": 0,            # LDW intensity [0|3], shake alert strength
   }
   return packer.make_can_msg("Lane_Assist_Data1", 0, values)
 
 
-def create_steer2_command(packer, lca_rq: int, ramp_type: int, angle_rad: float, curvature: float):
+def create_steer2_command(packer, lca_rq: int, angle_rad: float, curvature: float):
   """
   Creates a CAN message for the Ford LCA Command.
 
@@ -44,8 +44,8 @@ def create_steer2_command(packer, lca_rq: int, ramp_type: int, angle_rad: float,
     "LatCtlRng_L_Max": 0,               # [0|126] meter
     "HandsOffCnfm_B_Rq": 0,             # [0|1]
     "LatCtl_D_Rq": lca_rq,              # Mode: 0=None, 1=Continuous [0|7]
-    "LatCtlRampType_D_Rq": ramp_type,   # Ramp speed: 0=Slow, 1=Medium, 2=Fast, 3=Immediate
-    "LatCtlPrecision_D_Rq": 0,          # Precision: 0=Comfortable, 1=Precise [0|3]
+    "LatCtlRampType_D_Rq": 3,           # Ramp speed: 0=Slow, 1=Medium, 2=Fast, 3=Immediate
+    "LatCtlPrecision_D_Rq": 1,          # Precision: 0=Comfortable, 1=Precise [0|3]
     "LatCtlPathOffst_L_Actl": 0,        # Path offset [-5.12|5.11] meter
     "LatCtlPath_An_Actl": angle_rad,    # Path angle [-0.5|0.5235] radians
     "LatCtlCurv_NoRate_Actl": 0,        # Curvature rate [-0.001024|0.00102375] 1/meter