From f0f28a43dfd91474c6e9f0cd1730f3c51e450c56 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 23 Oct 2024 22:18:41 -0700 Subject: [PATCH] Ford radar: add information about the Doppler coverage --- opendbc/car/ford/radar_interface.py | 1 + 1 file changed, 1 insertion(+) diff --git a/opendbc/car/ford/radar_interface.py b/opendbc/car/ford/radar_interface.py index 256c30f946..b145207e94 100644 --- a/opendbc/car/ford/radar_interface.py +++ b/opendbc/car/ford/radar_interface.py @@ -121,6 +121,7 @@ def _update_delphi_mrr(self): # SCAN_INDEX rotates through 0..3 on each message for different measurement modes # Indexes 0 and 2 have a max range of ~40m, 1 and 3 are ~170m (MRR_Header_SensorCoverage->CAN_RANGE_COVERAGE) + # Indexes 0 and 1 have a Doppler coverage of +-71 m/s, 2 and 3 have +-60 m/s # TODO: can we group into 2 groups? scanIndex = msg[f"CAN_SCAN_INDEX_2LSB_{ii:02d}"] i = (ii - 1) * 4 + scanIndex