Ford - commaai/openpilot Wiki
This brand currently has limited openpilot support on the F150 and Fusion only through community maintained branches. Safety code is not working properly and should NOT be used without fully understanding the ramifications of such.
Ford currently has a steering lockout on the PSCM, and after 10 seconds, commands will drop for approximately 200-300ms. A fix has not yet been implemented.
The following members currently have Ford code. All code listed here is WIP and not expected to work 100%
|Make||Model||Supported Package||ACC||No ACC accel below||No LKA below||No Lateral below|
|Ford||F150 2015-Present||Lariat or Higher||Stock||12mph||35mph||10mph|
|Ford||Fusion 2013-Present||SE or Higher||Stock||12mph||35mph||10mph|
For general terms, go here.
|AHBC||Automatic High Beam Control|
|APA||Active Park Assist|
|APIM||Accessory Protocol Interface Module||SYNC Screen|
|BLIS||Blind Spot Information System|
|CADS||Collision Avoidance Detection System||ACC Radar Module for Stop/Go (IPMA does longitudinal calcs)|
|CCM||Cruise Control Module||ACC Radar Module for Non Stop/Go|
|CTA||Cross Traffic Alert|
|DAS||Driver Alertness System|
|FCIM||Front Controls Interface Module||SYNC Surround (Climate, Hazards, 360 Cam, Hill Descent)|
|GWM||Gateway Module||Gatekeeper for all CAN networks in the vehicle|
|HUD||Head Up Display||Used for the Collision Warning and Pre-Collision Assist|
|IPC||Instrument Panel Cluster|
|IPMA||Image Processing Module A||LKAS Camera|
|PAM||Park Aid Module|
|POA||Parallel Park Out Assist||APA Park Out|
|PSCM||Power Steering Control Module|
|PPA||Perpendicular Park Assist||APA Perpendicular|
|SAPP||Semi-Autonomous Parallel Park||APA Parallel|
|SCCM||Steering Column Control Module||SWC Buttons|
|SODL||Side Obstacle Detection Left||BLIS Left Module|
|SODR||Side Obstacle Detection Right||BLIS Right Module|
|TCU||Telematics Control Unit||SYNC Connect LTE|
Control over the steering wheel.
Vehicles without LKAS can use openpilot, so long as the LKAS Enable bit is changed in the PSCM with Forscan. This will throw a recurring DTC for a missing IPMA, but will not show up on the IPC. Ford currently has a steering lockout on the PSCM, and after 10 seconds, commands will drop for approximately 200-300ms. A fix has not yet been implemented.
Lateral Control is tied to the Cruise Control. On non Stop/Go vehicles, Lateral stops at 12mph, and can be manually engaged above 20mph. On Stop/Go vehicles, Lateral stops at 10mph.
Control over the gas and brakes.
Most Ford/Lincoln vehicles do not support OP Longitudinal Control. The CCM on these vehicles (Non Stop/Go) interfaces directly with the HS2 CAN bus and cannot be intercepted. These vehicles run in Lateral Only mode.
Stop/Go Ford's can be intercepted, but this has not been tested.