Ford: handle metric cruise speed (v2) #31463

incognitojam · 2024-02-14T17:07:49Z

Description

I found a signal which appears to match the IPC "Show km/h" setting.
Requires commaai/opendbc#1010. Previous attempt: #29526.

Closes #29494.

Verification

Test in car and confirm that toggling the "Show km/h" setting does not result in the cruise speed shown in openpilot being incorrect. Started in kph: e886087f430e7fe7/2024-02-14--19-23-28, in mph: e886087f430e7fe7/2024-02-14--19-27-31
Test in a non-English (metric) car: 32a35015aa4d5598/2024-03-03--14-58-48

incognitojam · 2024-02-16T12:20:52Z

@magicparty @chiachunli08 Do either of you want to test this branch for me? installer.comma.ai/incognitojam/ford-ipc-metric-v2

incognitojam · 2024-02-28T14:24:46Z

The signal is present on the Bronco Sport (from the process replay test route)

What does this mean? I'm guessing a change in canValid is not unexpected when adding a new message

***** results for segment regen6D39E54606E|2023-10-30--23-20-54--0 *****
    controlsd
        ref: https://commadataci.blob.core.windows.net/openpilotci/regen6D39E54606E|2023-10-30--23-20-54--0_controlsd_d0cdea7eb15f3cac8a921f7ace3eaa6baebb4fd5.bz2
        new: /tmp/openpilot/openpilot/selfdrive/test/process_replay/fakedata/regen6D39E54606E|2023-10-30--23-20-54--0_controlsd_ec907e09cd9fa3901c5d64fc6340c774100fd591.bz2

        carState.canValid: 19
        valid: 57

incognitojam · 2024-02-28T14:29:59Z

selfdrive/car/ford/carstate.py

@@ -54,7 +54,8 @@ def update(self, cp, cp_cam):
      ret.steerFaultTemporary |= cp.vl["Lane_Assist_Data3_FD1"]["LatCtlSte_D_Stat"] not in (1, 2, 3)

    # cruise state
-    ret.cruiseState.speed = cp.vl["EngBrakeData"]["Veh_V_DsplyCcSet"] * CV.MPH_TO_MS
+    is_metric = cp.vl["INSTRUMENT_PANEL"]["METRIC_UNITS"] == 1 if self.CP.carFingerprint not in CANFD_CAR else False


Signal does not appear to be present on CAN FD platform (checked 112e4d6e0cad05e1|2023-11-14--08-21-43) so will keep this for now.

magicparty · 2024-02-29T01:16:57Z

@magicparty @chiachunli08 Do either of you want to test this branch for me? installer.comma.ai/incognitojam/ford-ipc-metric-v2

I will test it this weekend

github-actions · 2024-02-29T15:09:39Z

Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:

Convert your PR to a draft unless it's ready to review
Read the contributing docs
Before marking as "ready for review", ensure:
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magicparty · 2024-03-04T14:08:43Z

@incognitojam I tested this solution on my car, and it worked.
route: 32a35015aa4d5598/2024-03-03--14-58-48

incognitojam · 2024-03-04T14:43:43Z

@magicparty thank you! can you make the route public?

incognitojam · 2024-03-04T19:45:50Z

There isn't really anything to check if it worked. Ready for review.

**Description** I found a signal which appears to match the IPC "Show km/h" setting. Requires commaai/opendbc#1010. **Verification** - [ ] Test in car and confirm that toggling the "Show km/h" setting does not result in the cruise speed shown in openpilot being incorrect. - [ ] Test in a non-English (metric) car.

selfdrive/car/ford/carstate.py

sshane · 2024-03-12T05:19:03Z

selfdrive/car/ford/carstate.py

+    else:
+      messages += [
+        ("INSTRUMENT_PANEL", 10),
+      ]


Can you check how long this message takes to become valid/present?

Using commaCarSegments
notebook

The ones with no message are F-150 and Mach-E

sshane · 2024-03-20T01:01:09Z

selfdrive/car/ford/carstate.py

@@ -131,6 +132,10 @@ def get_can_parser(CP):
      messages += [
        ("Lane_Assist_Data3_FD1", 33),
      ]
+    else:
+      messages += [
+        ("INSTRUMENT_PANEL", 10),


are you sure this is 10Hz? It's 1Hz on our Bronco, and takes 0.48s to show up on the process replay route (VehicleOperatingModes is instant for example), which makes sense given it's 1Hz in that route. When it shows up is when carState now goes valid, also making sense.

What does this mean? I'm guessing a change in canValid is not unexpected when adding a new message

That's because it's just expanding the invalid carState time/messages out to when we see all the CAN messages, it takes 0.79 seconds for the TOYOTA3 route to go valid for example

oh, it was an oversight from me. must be 1Hz

for some reason it's still invalid when freq=1

See

That's because it's just expanding the invalid carState time/messages out to when we see all the CAN messages, it takes 0.79 seconds for the TOYOTA3 route to go valid for example

Oh I thought it would go valid quicker for 1hz than 10hz

It goes valid when it sees the message

This reverts commit 5e3a9f6.

* Ford: handle metric cruise speed (v2) **Description** I found a signal which appears to match the IPC "Show km/h" setting. Requires commaai/opendbc#1010. **Verification** - [ ] Test in car and confirm that toggling the "Show km/h" setting does not result in the cruise speed shown in openpilot being incorrect. - [ ] Test in a non-English (metric) car. * not present on Q4 * fix freq * test * Revert "test" This reverts commit 5e3a9f6. * Update ref_commit --------- Co-authored-by: Shane Smiskol <shane@smiskol.com>

incognitojam force-pushed the ford-ipc-metric-v2 branch from de6650a to baa3318 Compare February 14, 2024 17:22

incognitojam marked this pull request as ready for review February 14, 2024 17:25

incognitojam force-pushed the ford-ipc-metric-v2 branch from ebf60d3 to a3da901 Compare February 14, 2024 19:08

adeebshihadeh added enhancement car vehicle-specific ford labels Feb 25, 2024

incognitojam force-pushed the ford-ipc-metric-v2 branch from a3da901 to ff46388 Compare February 25, 2024 22:17

incognitojam commented Feb 28, 2024

View reviewed changes

incognitojam force-pushed the ford-ipc-metric-v2 branch from 1cd0580 to 0b6ce4a Compare March 7, 2024 11:17

incognitojam force-pushed the ford-ipc-metric-v2 branch from 0b6ce4a to e640e88 Compare March 10, 2024 23:34

not present on Q4

2d7df6e

incognitojam force-pushed the ford-ipc-metric-v2 branch from e640e88 to 2d7df6e Compare March 10, 2024 23:51

sshane reviewed Mar 12, 2024

View reviewed changes

selfdrive/car/ford/carstate.py Show resolved Hide resolved

sshane reviewed Mar 12, 2024

View reviewed changes

incognitojam requested a review from sshane March 19, 2024 23:04

sshane reviewed Mar 20, 2024

View reviewed changes

incognitojam and others added 5 commits March 20, 2024 10:04

fix freq

f9c82ba

test

5e3a9f6

Revert "test"

3f013e0

This reverts commit 5e3a9f6.

Merge remote-tracking branch 'upstream/master' into ford-ipc-metric-v2

f77699b

Update ref_commit

ad0f6d4

sshane merged commit b59ae50 into commaai:master Mar 21, 2024
27 checks passed

incognitojam deleted the ford-ipc-metric-v2 branch March 21, 2024 23:27

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Ford: handle metric cruise speed (v2) #31463

Ford: handle metric cruise speed (v2) #31463

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Ford: handle metric cruise speed (v2) #31463

Ford: handle metric cruise speed (v2) #31463

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