Ford: trigger radar update on header message (#1410)

* check header message

* ""

opendbc/car/ford/radar_interface.py

@@ -9,6 +9,7 @@
 DELPHI_ESR_RADAR_MSGS = list(range(0x500, 0x540))
 
 DELPHI_MRR_RADAR_START_ADDR = 0x120
+DELPHI_MRR_RADAR_HEADER_ADDR = 0x170  # MRR_Header_InformationDetections
 DELPHI_MRR_RADAR_MSG_COUNT = 64
 
 
@@ -20,7 +21,7 @@ def _create_delphi_esr_radar_can_parser(CP) -> CANParser:
 
 
 def _create_delphi_mrr_radar_can_parser(CP) -> CANParser:
-  messages = []
+  messages = [("MRR_Header_InformationDetections", 33)]
 
   for i in range(1, DELPHI_MRR_RADAR_MSG_COUNT + 1):
     msg = f"MRR_Detection_{i:03d}"
@@ -44,7 +45,7 @@ def __init__(self, CP):
       self.valid_cnt = {key: 0 for key in DELPHI_ESR_RADAR_MSGS}
     elif self.radar == RADAR.DELPHI_MRR:
       self.rcp = _create_delphi_mrr_radar_can_parser(CP)
-      self.trigger_msg = DELPHI_MRR_RADAR_START_ADDR + DELPHI_MRR_RADAR_MSG_COUNT - 1
+      self.trigger_msg = DELPHI_MRR_RADAR_HEADER_ADDR
     else:
       raise ValueError(f"Unsupported radar: {self.radar}")
 
@@ -103,6 +104,8 @@ def _update_delphi_esr(self):
           del self.pts[ii]
 
   def _update_delphi_mrr(self):
+    headerScanIndex = int(self.rcp.vl["MRR_Header_InformationDetections"]['CAN_SCAN_INDEX']) & 0b11
+
     for ii in range(1, DELPHI_MRR_RADAR_MSG_COUNT + 1):
       msg = self.rcp.vl[f"MRR_Detection_{ii:03d}"]
 
@@ -111,6 +114,10 @@ def _update_delphi_mrr(self):
       scanIndex = msg[f"CAN_SCAN_INDEX_2LSB_{ii:02d}"]
       i = (ii - 1) * 4 + scanIndex
 
+      # Throw out old measurements. Very unlikely to happen, but is proper behavior
+      if scanIndex != headerScanIndex:
+        continue
+
       if i not in self.pts:
         self.pts[i] = structs.RadarData.RadarPoint()
         self.pts[i].trackId = self.track_id