Ford: angle violation shouldn't end controls

commaai · Jan 17, 2022 · f4dfd1f · f4dfd1f
1 parent 6fe4ecd
commit f4dfd1f
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Showing 2 changed files with 5 additions and 12 deletions.
diff --git a/board/safety/safety_ford.h b/board/safety/safety_ford.h
@@ -177,7 +177,7 @@ static int ford_tx_hook(CANPacket_t *to_send) {
     //   tx = 0;
     // }
 
-    // No angle control allowed when controls are not allowed
+    // No steer control allowed when controls are not allowed
     if (!controls_allowed && steer_control_enabled) {
       tx = 0;
     }

diff --git a/tests/safety/test_ford.py b/tests/safety/test_ford.py
@@ -139,37 +139,30 @@ def test_angle_cmd_when_enabled(self):
         # Stay within limits
         # Don't change
         self.assertTrue(self._tx(self._lkas_control_msg(a, 1)))
-        self.assertTrue(self.safety.get_controls_allowed())
 
         # Up
         self.assertTrue(self._tx(self._lkas_control_msg(a + sign(a) * max_delta_up, 1)))
-        self.assertTrue(self.safety.get_controls_allowed())
 
         # Down
         self._set_prev_angle(a)
         self.assertTrue(self._tx(self._lkas_control_msg(a - sign(a) * max_delta_down, 1)))
-        self.assertTrue(self.safety.get_controls_allowed())
 
         # Inject too high rates
         # Up
         self._set_prev_angle(a)
         self.assertFalse(self._tx(self._lkas_control_msg(a + sign(a) * (max_delta_up + 1.1), 1)))
-        self.assertFalse(self.safety.get_controls_allowed())
 
         # Don't change
-        self.safety.set_controls_allowed(1)
         self._set_prev_angle(a)
-        self.assertTrue(self.safety.get_controls_allowed())
         self.assertEqual(True, self._tx(self._lkas_control_msg(a, 1)))
-        self.assertTrue(self.safety.get_controls_allowed())
 
         # Down
         self.assertEqual(False, self._tx(self._lkas_control_msg(a - sign(a) * (max_delta_down + 1.1), 1)))
-        self.assertFalse(self.safety.get_controls_allowed())
 
-        # Check desired steer should be the same as steer angle when controls are off
-        self.safety.set_controls_allowed(0)
-        self.assertEqual(True, self._tx(self._lkas_control_msg(a, 0)))
+        # TODO: ford safety doesn't check for this yet
+        # # Check desired steer should be the same as steer angle when controls are off
+        # self.safety.set_controls_allowed(0)
+        # self.assertEqual(True, self._tx(self._lkas_control_msg(a, 0)))
 
   def test_steer_when_disabled(self):
     self.safety.set_controls_allowed(0)