Ford: tighten hands-free UI gating to strict lateral control#108
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adgower wants to merge 3 commits intoBluePilotDev:bp-6.0.1-betafrom
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Ford: tighten hands-free UI gating to strict lateral control#108adgower wants to merge 3 commits intoBluePilotDev:bp-6.0.1-betafrom
adgower wants to merge 3 commits intoBluePilotDev:bp-6.0.1-betafrom
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Keep the existing `send_hands_free_cluster_msg` param chain, but only forward a derived runtime flag when lateral is actually in control. In Ford `carcontroller.py`, require `CC.latActive` and, when MADS is available, require `CC_SP.mads.state == MADSState.enabled` before showing the hands-free cluster UI. Pass that stricter flag through the DM helper path and ACC UI path without changing `create_acc_ui_msg()` behavior or any public interfaces. Non-MADS behavior is unchanged.
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Tighten Ford hands-free cluster UI gating so the hands-free icon only appears when lateral is actually in control.
Before this change, the existing
send_hands_free_cluster_msgtoggle could flow through the Ford UI path too loosely. This patch keeps the same param chain and downstream behavior, but derives a stricter runtime flag inopendbc_repo/opendbc/car/ford/carcontroller.pybefore passing it on.New gating:
CC.latActiveCC_SP.mads.state == MADSState.enabledVerification
mads.state == enabledwithCC.latActive=Truestill allows hands-free UImads.state == enabledstill allows hands-free UIpaused,overriding, andsoftDisablingnow suppress hands-free UI