From 5aaad511073986e62f15335a64a7918d9c4180ff Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 23 Oct 2024 23:22:50 -0500
Subject: [PATCH] Ford: set radar delay (#1416)

* set delay

* some tolerance

* better wording

* back
---
 opendbc/car/ford/interface.py | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/opendbc/car/ford/interface.py b/opendbc/car/ford/interface.py
index fbd027a2dc..dfc64747cb 100644
--- a/opendbc/car/ford/interface.py
+++ b/opendbc/car/ford/interface.py
@@ -2,7 +2,7 @@
 from opendbc.car import get_safety_config, structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.ford.fordcan import CanBus
-from opendbc.car.ford.values import Ecu, FordFlags
+from opendbc.car.ford.values import DBC, Ecu, FordFlags, RADAR
 from opendbc.car.interfaces import CarInterfaceBase
 
 TransmissionType = structs.CarParams.TransmissionType
@@ -19,6 +19,11 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
     ret.steerActuatorDelay = 0.2
     ret.steerLimitTimer = 1.0
 
+    if DBC[candidate]['radar'] == RADAR.DELPHI_MRR:
+      # average of 33.3 Hz radar timestep / 4 scan modes = 60 ms
+      # MRR_Header_Timestamps->CAN_DET_TIME_SINCE_MEAS reports 61.3 ms
+      ret.radarDelay = 0.06
+
     CAN = CanBus(fingerprint=fingerprint)
     cfgs = [get_safety_config(structs.CarParams.SafetyModel.ford)]
     if CAN.main >= 4: