Ford Q3: enable long by default (#33945)

* bump * update docs * release notes ctrl * op * migrate for regen * regen and update refs * only ford
commaai · Nov 7, 2024 · 1e3f8be · 1e3f8be
1 parent c3ca9a2
commit 1e3f8be
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Showing 6 changed files with 25 additions and 21 deletions.
diff --git a/RELEASES.md b/RELEASES.md
@@ -4,8 +4,9 @@ Version 0.9.8 (2024-XX-XX)
   * Trained in brand new ML simulator
   * Model now gates applying positive accel in Chill mode
 * New driving monitoring model
-  * Reduced false positives related to passengers 
+  * Reduced false positives related to passengers
 * Added toggle to enable driver monitoring even when openpilot is not engaged
+* Enable openpilot longitudinal control for Ford Q3 vehicles
 * New Toyota TSS2 longitudinal tune
 
 Version 0.9.7 (2024-06-13)

diff --git a/docs/CARS.md b/docs/CARS.md
diff --git a/opendbc_repo b/opendbc_repo
diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
@@ -6,6 +6,7 @@
 from cereal import messaging, car, log
 from opendbc.car.fingerprints import MIGRATION
 from opendbc.car.toyota.values import EPS_SCALE
+from opendbc.car.ford.values import CAR as FORD, FordFlags
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.fill_model_msg import fill_xyz_poly, fill_lane_line_meta
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
@@ -270,6 +271,8 @@ def migrate_pandaStates(msgs):
     "TOYOTA_RAV4": EPS_SCALE["TOYOTA_RAV4"] | Panda.FLAG_TOYOTA_ALT_BRAKE,
     "KIA_EV6": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2,
   }
+  # TODO: get new Ford route
+  safety_param_migration |= {car: Panda.FLAG_FORD_LONG_CONTROL for car in (set(FORD) - FORD.with_flags(FordFlags.CANFD))}
 
   # Migrate safety param base on carParams
   CP = next((m.carParams for _, m in msgs if m.which() == 'carParams'), None)

diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-992ac80ef848afb85562ca24b1c5a3d410aacd05
+931b922589a7afb631cd91e57fd6d8408a56564f
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
@@ -56,7 +56,7 @@
   ("NISSAN", "regen58464878D07|2024-08-30--03-15-31--0"),
   ("VOLKSWAGEN", "regenED976DEB757|2024-08-30--03-18-02--0"),
   ("MAZDA", "regenACF84CCF482|2024-08-30--03-21-55--0"),
-  ("FORD", "regen6ECC59A6307|2024-08-30--03-25-42--0"),
+  ("FORD", "regen756F8230C21|2024-11-07--00-08-24--0"),
 ]
 
 # dashcamOnly makes don't need to be tested until a full port is done
Original file line number	Diff line number	Diff line change
		@@ -1 +1 @@
		992ac80ef848afb85562ca24b1c5a3d410aacd05
		931b922589a7afb631cd91e57fd6d8408a56564f