Add Ford Explorer Mk6

commaai · Aug 13, 2022 · 01310f7 · 01310f7
1 parent e3816bb
commit 01310f7
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Showing 3 changed files with 27 additions and 1 deletion.
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
@@ -27,9 +27,14 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disa
 
     if candidate == CAR.ESCAPE_MK4:
       ret.wheelbase = 2.71
-      ret.steerRatio = 14.3  # Copied from Focus
+      ret.steerRatio = 13.8  # Copied from Focus
       ret.mass = 1750 + STD_CARGO_KG
 
+    elif candidate == CAR.EXPLORER_MK6:
+      ret.wheelbase = 3.025
+      ret.steerRatio = 16.8  # learned
+      ret.mass = 2050 + STD_CARGO_KG
+
     elif candidate == CAR.FOCUS_MK4:
       ret.wheelbase = 2.7
       ret.steerRatio = 13.8  # learned

diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
@@ -32,13 +32,15 @@ class CANBUS:
 
 class CAR:
   ESCAPE_MK4 = "FORD ESCAPE 4TH GEN"
+  EXPLORER_MK6 = "FORD EXPLORER 6TH GEN"
   FOCUS_MK4 = "FORD FOCUS 4TH GEN"
   MAVERICK_MK1 = "FORD MAVERICK 1ST GEN"
   TRANSIT_MK4 = "FORD TRANSIT 4TH GEN"
 
 
 CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
   CAR.ESCAPE_MK4: CarInfo("Ford Escape", "NA"),
+  CAR.EXPLORER_MK6: CarInfo("Ford Explorer", "NA"),
   CAR.FOCUS_MK4: CarInfo("Ford Focus", "NA"),
   CAR.MAVERICK_MK1: CarInfo("Ford Maverick", "NA"),
   CAR.TRANSIT_MK4: CarInfo("Ford Transit", "NA"),
@@ -63,6 +65,23 @@ class CAR:
       b'LX6A-14C204-ESG\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
+  CAR.EXPLORER_MK6: {
+    (Ecu.eps, 0x730, None): [
+      b'L1MC-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.esp, 0x760, None): [
+      b'L1MC-2D053-BB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x764, None): [
+      b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x706, None): [
+      b'LB5T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7E0, None): [
+      b'LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
   CAR.FOCUS_MK4: {
     (Ecu.eps, 0x730, None): [
       b'JX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -116,6 +135,7 @@ class CAR:
 
 DBC = {
   CAR.ESCAPE_MK4: dbc_dict('ford_lincoln_base_pt', None),
+  CAR.EXPLORER_MK6: dbc_dict('ford_lincoln_base_pt', None),
   CAR.FOCUS_MK4: dbc_dict('ford_lincoln_base_pt', None),
   CAR.MAVERICK_MK1: dbc_dict('ford_lincoln_base_pt', None),
   CAR.TRANSIT_MK4: dbc_dict('ford_lincoln_base_pt', None),

diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml
@@ -13,6 +13,7 @@ TESLA AP2 MODEL S: [.nan, 2.5, .nan]
 
 # Guess
 FORD ESCAPE 4TH GEN: [.nan, 1.5, .nan]
+FORD EXPLORER 6TH GEN: [.nan, 1.5, .nan]
 FORD FOCUS 4TH GEN: [.nan, 1.5, .nan]
 FORD MAVERICK 1ST GEN: [.nan, 1.5, .nan]
 FORD TRANSIT 4TH GEN: [.nan, 1.5, .nan]