Ford CANFD Radar Parser

[blue-genie]

Radar enabled with the same logic as for CAN - see below for more details:

e36b272d5679115f/00000308--b61d26edc1/0

Radar Enabled - with final version of the code:

e36b272d5679115f/0000033b--8d4b7c8da5/0 e36b272d5679115f/0000033c--d7640794bc/0

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) * dist and I used the same for CANFD and I got the above artifacts, then I switched to yRel = sin(azimuth) * dist and I got:

https://github.com/user-attachments/assets/fdac539c-1d03-4db0-b1bd-b9a85ed4e4a9

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.

[coffee-cake-isaac]

🚀

[github-actions[bot]]

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[adeebshihadeh]

Gonna merge, then we can do final validation once we use it for OP long. For now, it'll only affect FCW.

[sshane]

I'll collect a new route with clustering on headerScanIndex 2 and 3, not only on 3 and see how everything looks.

Make sure you understand what each is

[sshane]

Can you provide a route? The two in the description don't have rlogs

[blue-genie]

Can you provide a route? The two in the description don't have rlogs

I'm guessing the old routes were archived.

These are routes on a clean master: e36b272d5679115f/00000478--81ffd3e440 e36b272d5679115f/00000477--46bd01ebcd e36b272d5679115f/00000476--442fdcaba9 e36b272d5679115f/00000369--a3e8499a85

All 4 routes have empty GitDiff. See if they help.