add Bronco Sport

commaai · Oct 25, 2022 · 3c766ab · 3c766ab
1 parent 9582744
commit 3c766ab
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Showing 3 changed files with 10 additions and 2 deletions.
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 from cereal import car
-from common.conversions import Conversions as CV
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.ford.values import CAR, Ecu, TransmissionType, GearShifter
 from selfdrive.car.interfaces import CarInterfaceBase
@@ -26,6 +25,11 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, expe
     ret.steerLimitTimer = 1.0
     tire_stiffness_factor = 1.0
 
+    if candidate == CAR.BRONCO_SPORT_MK1:
+      ret.wheelbase = 2.67
+      ret.steerRatio = 15.0  # guess
+      ret.mass = 1625 + STD_CARGO_KG
+
     if candidate == CAR.ESCAPE_MK4:
       ret.wheelbase = 2.71
       ret.steerRatio = 14.3  # Copied from Focus
@@ -50,7 +54,8 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, expe
       ret.transmissionType = TransmissionType.automatic
     else:
       ret.transmissionType = TransmissionType.manual
-      ret.minEnableSpeed = 20.0 * CV.MPH_TO_MS
+      # TODO: add footnote
+      # ret.minEnableSpeed = 20.0 * CV.MPH_TO_MS
 
     # BSM: Side_Detect_L_Stat, Side_Detect_R_Stat
     # TODO: detect bsm in car_fw?

diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
@@ -40,6 +40,7 @@ class CANBUS:
 
 
 class CAR:
+  BRONCO_SPORT_MK1 = "FORD BRONCO SPORT 1ST GEN"
   ESCAPE_MK4 = "FORD ESCAPE 4TH GEN"
   EXPLORER_MK6 = "FORD EXPLORER 6TH GEN"
   FOCUS_MK4 = "FORD FOCUS 4TH GEN"
@@ -60,6 +61,7 @@ class FordCarInfo(CarInfo):
 
 
 CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
+  CAR.BRONCO_SPORT_MK1: FordCarInfo("Ford Bronco Sport 2021"),
   CAR.ESCAPE_MK4: [
     FordCarInfo("Ford Escape 2020"),
     FordCarInfo("Ford Kuga EU", "Driver Assistance Pack"),

diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml
@@ -12,6 +12,7 @@ TESLA AP1 MODEL S: [.nan, 2.5, .nan]
 TESLA AP2 MODEL S: [.nan, 2.5, .nan]
 
 # Guess
+FORD BRONCO SPORT 1ST GEN: [.nan, 1.5, .nan]
 FORD ESCAPE 4TH GEN: [.nan, 1.5, .nan]
 FORD EXPLORER 6TH GEN: [.nan, 1.5, .nan]
 FORD FOCUS 4TH GEN: [.nan, 1.5, .nan]