Ford CANFD Radar Parser #1835
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Ford CANFD Radar Parser #1835
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blue-genie
commented
Feb 24, 2025
| @@ -34,6 +34,10 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime | |||
| # MRR_Header_Timestamps->CAN_DET_TIME_SINCE_MEAS reports 61.3 ms | |||
| ret.radarDelay = 0.06 | |||
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| if not ret.radarUnavailable and DBC[candidate][Bus.radar] == RADAR.DELPHI_MRR_64: | |||
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Didn't really understood how the 60ms was calculated, but I tried to apply a similar logic for CANFD
| azimuth = msg[f"CAN_DET_AZIMUTH_{ii:02d}_{iii:02d}"] # rad [-3.1416|3.13964] | ||
| distRate = msg[f"CAN_DET_RANGE_RATE_{ii:02d}_{iii:02d}"] # m/s [-128|127.984] | ||
| dRel = cos(azimuth) * dist # m from front of car | ||
| yRel = sin(azimuth) * dist # in car frame's y axis, right is positive |
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This is the major change between CAN and CANFD, I can't say if it's correct not not the one for CAN, but this one makes the most sense for CANFD. See the PR details for more explanation
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Radar enabled with the same logic as for CAN - see below for more details:
Radar Enabled - with final version of the code:
I started with using the same logic used for CAN Fords, adjusting the code for the missing signals in CANFD, and I had some artifacts like:
https://github.com/user-attachments/assets/f4537216-9a6d-43a3-b973-a7bca28b8ff9
Check the lead chevron how it bounces.
https://github.com/user-attachments/assets/dfd9ff2a-e680-4d3f-afd5-2f34bd463ee9
I'm expecting the old radar points to remain in the right and new ones to come on the left.
The road curves to the right and the radar points cross the lanes, when there is noting on the lanes.
CAN logic uses
yRel = -sin(azimuth) * distand I used the same for CANFD and I got the above artifacts, then I switched toyRel = sin(azimuth) * distand I got:AdjustedRadar-small.mp4
Note how nice old points are left on the right and new ones come from the left.
https://github.com/user-attachments/assets/d2120681-f914-4c7c-b338-2d0f11cf1e35
Note how nice the radar points match with the left edge of the road.
I will add some more comments in the code.