FrogPilot Setup

selfdrive/car/ford/carcontroller.py

@@ -35,7 +35,7 @@ class CarController:
     self.lkas_enabled_last = False
     self.steer_alert_last = False
 
-  def update(self, CC, CS, now_nanos):
+  def update(self, CC, CS, now_nanos, frogpilot_variables):
     can_sends = []
 
     actuators = CC.actuators

selfdrive/car/ford/carstate.py

@@ -20,7 +20,7 @@ class CarState(CarStateBase):
     self.vehicle_sensors_valid = False
     self.unsupported_platform = False
 
-  def update(self, cp, cp_cam):
+  def update(self, cp, cp_cam, frogpilot_variables):
     ret = car.CarState.new_message()
 
     # Ford Q3 hybrid variants experience a bug where a message from the PCM sends invalid checksums,

selfdrive/car/ford/interface.py

@@ -12,7 +12,7 @@ GearShifter = car.CarState.GearShifter
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "ford"
     ret.dashcamOnly = candidate in CANFD_CAR
 
@@ -103,10 +103,10 @@ class CarInterface(CarInterfaceBase):
     ret.centerToFront = ret.wheelbase * 0.44
     return ret
 
-  def _update(self, c):
-    ret = self.CS.update(self.cp, self.cp_cam)
+  def _update(self, c, frogpilot_variables):
+    ret = self.CS.update(self.cp, self.cp_cam, frogpilot_variables)
 
-    events = self.create_common_events(ret, extra_gears=[GearShifter.manumatic])
+    events = self.create_common_events(ret, frogpilot_variables, extra_gears=[GearShifter.manumatic])
     if not self.CS.vehicle_sensors_valid:
       events.add(car.CarEvent.EventName.vehicleSensorsInvalid)
     if self.CS.unsupported_platform:
@@ -116,5 +116,5 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)
+  def apply(self, c, now_nanos, frogpilot_variables):
+    return self.CC.update(c, self.CS, now_nanos, frogpilot_variables)