From 31758a40c938bf20f5ae5d468b24d94f2b7b651c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 23 Oct 2024 19:11:07 -0700 Subject: [PATCH] Ford: apply creep compensation for all cars --- opendbc/car/ford/carcontroller.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/opendbc/car/ford/carcontroller.py b/opendbc/car/ford/carcontroller.py index d7444160b3..aa96d9484c 100644 --- a/opendbc/car/ford/carcontroller.py +++ b/opendbc/car/ford/carcontroller.py @@ -1,7 +1,7 @@ from opendbc.can.packer import CANPacker from opendbc.car import apply_std_steer_angle_limits, structs from opendbc.car.ford import fordcan -from opendbc.car.ford.values import CAR, CarControllerParams, FordFlags +from opendbc.car.ford.values import CarControllerParams, FordFlags from opendbc.car.common.numpy_fast import clip, interp from opendbc.car.interfaces import CarControllerBase, V_CRUISE_MAX @@ -98,9 +98,9 @@ def update(self, CC, CS, now_nanos): if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0: # Compensate for engine creep at low speed. # Either the ABS does not account for engine creep, or the correction is very slow - # TODO: whitelist more cars + # TODO: verify this applies to EV/hybrid self.accel = actuators.accel - if CC.longActive and self.CP.carFingerprint == CAR.FORD_BRONCO_SPORT_MK1: + if CC.longActive: self.accel = apply_creep_compensation(self.accel, CS.out.vEgo) self.accel = clip(self.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)