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Important Information

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.

Community Branches

The following members currently have Ford code. All code listed here is WIP and not expected to work 100%

https://github.com/bugsy924/openpilot/tree/ford

Supported Vehicles

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

Make-Specific Terms

For general terms, go here.

Abbreviation	Term	Definition
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
PCA	Pre-Collision Assist
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

openpilot Capabilities

Lateral Control

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.

Torque

Minimum Speeds

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.

Longitudinal Control

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.

Useful links

https://medium.com/@comma_ai/safer-control-of-steering-362f3526c9ab