DIY HOW TO: Install adaptive cruise control in Maverick Hybrid XLT with Luxury package

[Maverick_Dave]

Hi everyone, I'm helping a friend install the ACC retrofit and pins 3 and 11 on the IPMA connector are already populated. Has anyone else encountered this? How should I proceed in this case? The model already came with lane keep assist.
Thanks in advance for any help!

What year?

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[JCMavGuy]

On my 2025-
As of right now, the IPMA programming seems to be the only thing holding up progress.
I can set everything up for Adaptive Cruise (with or without Stop & Go), but the IPMA keeps throwing a "configuration incompatible" code and warning lights on the IPC.
I'm wondering if it needs the front park aid sensors to actually work. Or worse- front, rear, and side obstacle sensors.

Did you get the 4k tow package on your XLT? I have a 25 XL but with 4k tow it adds corner cameras (and I believe radar?) I wonder if that would make a difference...

 

[surfstar]

Unless they drastically changed how ACC works for 2025, all you need is the standard front view camera (stock on all models) and radar.

 

[MarcoG]

wow, what a writeup! i am NEVER going to attempt this, but i am extremely impressed.

I can't believe it. Wow. Super impressed.

 

[noneya]

So I had warranty work done on my 2024 XLT Hyrbid with no options. It was an issue with the brake booster and it was replaced. On the paperwork I noticed some programming was done on the ABS module from the dealer.

I was able to make changes to the ABS module in forscan and got adaptive cruise working again and I also use the comma ai hardware. Also I had everything working before I got the warranty work done.

I only have 1 issue and it's with braking when adaptive cruise is active. Before when pressing the brake pedal the speed control would disengage and now it does not. If the pedal is pushed far enough it does disengage but there's also a jerk to the truck. I've been looking through the thread but haven't seen anyone with a similar issue.

Is there maybe a setting specific to the brake booster in forscan? Any help or info would be appreciated.

 

[Maverick_Dave]

Did you get the 4k tow package on your XLT? I have a 25 XL but with 4k tow it adds corner cameras (and I believe radar?) I wonder if that would make a difference...

I do not have 4k

 

[XC64180]

Okay, I figured it out- Another success, and now I'm rocking a Comma 3x on top of it.

The quirk with this is that the option to calibrate the CCM wasn't there in the latest version of FORScan (grr). It was available in version 2.3.60 which was the ticket in. You can download it at the releases page here for FORScan: https://forscan.org/changes_history.html

Important, useful things to note too:

2024 Maverick XLT Hybrid with Lux

I'm using an M2DT-9G768-AC CCM module, which is much cheaper than a Maverick unit- this might save you ~$200 if you're starting fresh.
The module was recognized initially, but I flashed the firmware before I saw if the old firmware was fine for it. With how the car behaved initially, you may even be good not flashing the firmware- but no warranty expressed or implied... Do share your results if you try this route.

I had an error about the alignment being off despite calibrating it multiple times, but I found the issue; There's a vehicle type value in the configuration that needs to be set to 4D; V is your VIN in hexadecimal:

CCM AsBuilt:
764-01-01: 4DVV VVVV VV
764-01-02: VVVV VVVV VV
764-01-03: VVVV VVVV VV
764-01-04: VVVV VVxx xx

4D seems to be a valid Maverick 'vehicle type' value, and adaptive cruise worked the moment it was written. It was pulled from a 2024 Lariat hybrid as-built.

Past that, here's some more info:

22 AWG four conductor shielded wire did just fine going from IMPA to fusebox to front bumper.

Highly recommend you use triple-pin micro fuse taps for this install, as there's two unused ones on the fusebox for this vehicle that are wired to ignition.

You can buy/use a pocket oscilloscope to verify CAN high/low before you wire up the pigtail to the radar. CAN high will *raise* from a specific voltage and CAN low will *lower* from that voltage. If the square waves look stable and discrete you should be A-OK!

This was a lot of fun and I'm happy with the results. Getting through the boot was the hardest part.

Will share my full build codes soon! Reach out if anyone has questions or if you would like the firmware that's being shared around here.

May I know how you flashed the M2DT-9G768-AC? I have the same CCM and NZ6T-14D049-AA firmware. But it always fails at block 15. I have no problem flashing the firmware downloaded by Forscan which is M2DT-14D049-AB and much larger file size. The SBL I'm using is M2DT-14D051-AA. I'm not sure if that's the issue.

 

[Blu]

May I know how you flashed the M2DT-9G768-AC? I have the same CCM and NZ6T-14D049-AA firmware. But it always fails at block 15. I have no problem flashing the firmware downloaded by Forscan which is M2DT-14D049-AB and much larger file size. The SBL I'm using is M2DT-14D051-AA. I'm not sure if that's the issue.

Have you tried just calibrating without flashing? Works fine with my used LB5T-9G768-AB from a escape.

 

[XC64180]

It actually works fine without flashing. But I'm using Comma and OpenPilot won't have correct fingerprint without flashing the firmware. I need to manually select vehicle make and model. That's the only downside of using different CCM without flashing AFAIK.

 

[inline_five]

Some links I read: openpilot, sunnypilot, bluepilot
https://comma.ai/openpilot
https://bderkhan.com/openpilot-branch-comparisons/
Introducing Bluepilot! A Ford specific fork for Comma3X / OpenPilot
https://bluepilot.dev/

It bypasses the ford warning and uses the camera to make sure you are watching. I was able to go 100's of miles like this.

It actually works fine without flashing. But I'm using Comma and OpenPilot won't have correct fingerprint without flashing the firmware. I need to manually select vehicle make and model. That's the only downside of using different CCM without flashing AFAIK.

@BlueSpec1 @Mas280 @XC64180

Looks like you guys have been using Comma's product. My Comma 4 should be here in a few days and I've already been using the ACC mod for like 18 months.

What specifically do I need to do to get this spun up? I'm familiar with Git etc but not familiar with how to set it up with our hacked cars.

 

[Blu]

May I know how you flashed the M2DT-9G768-AC? I have the same CCM and NZ6T-14D049-AA firmware. But it always fails at block 15. I have no problem flashing the firmware downloaded by Forscan which is M2DT-14D049-AB and much larger file size. The SBL I'm using is M2DT-14D051-AA. I'm not sure if that's the issue.

Just did a update with my LB5T-9G768-AB radar with no issues on latest licensed beta. What calibration file did you use? On mine it downloaded H1BT-14D051-AB.vbf.

 

[svllcn]

So, I have started designing my installation for the adaptive cruise control on my 2024 Tremor Ecoboost. I have received all of my parts, except for the actual radar sensor (I'm waiting on UPS). After reading through this thread and the generous help of a few form members (You guys rock!!!!!!!) I think I have a solid game plan. I am using the idea that 3DMaverick suggested (post #825), and I 3D scanned my grill. I am designing a bracket that will not require cutting the grill and should also allow me to complete the installation without removing the front bumper . Here are a few pictures from Solidworks of my design so far. Once I receive my sensor, I can complete the design. However, I have already test-fitted the bracket, and it fits my grill nicely.

I will be 3d printing this solid from ASA, which will withstand high temperatures and UV light and is very impact-resistant. I will also be using brass heat-set inserts for all the threaded connections.

Once this design is finalized, I will share all my files on either Thingiverse or Printables.

Hey how is this 3d print holding up for you? How has ACC been overall?

 

[rusty_shackleford]

On my 2025-
As of right now, the IPMA programming seems to be the only thing holding up progress.
I can set everything up for Adaptive Cruise (with or without Stop & Go), but the IPMA keeps throwing a "configuration incompatible" code and warning lights on the IPC.
I'm wondering if it needs the front park aid sensors to actually work. Or worse- front, rear, and side obstacle sensors.

From jesse_infotainment on the f150 forums, I messaged him about this a few days ago. "You will get 2101 codes for any config that conflicts.. Regardless of module. The 2101 can come from the BCM, ABS not having the ACC enabled."

I've ordered the correct CCM, it comes tomorrow or friday. Seems every module must be told we have ACC or the 2101 will persist. I've been digging through the spreadsheets, and it looks like there's spots on the BCM, IPMA, IPC, ABS, and APIM that we need to modify. I grabbed a few lariat as-builts and compared the differences to my XL. I'm going to try again this weekend, I'll update if I learn anything.

 

[rusty_shackleford]

From jesse_infotainment on the f150 forums, I messaged him about this a few days ago. "You will get 2101 codes for any config that conflicts.. Regardless of module. The 2101 can come from the BCM, ABS not having the ACC enabled."

I've ordered the correct CCM, it comes tomorrow or friday. Seems every module must be told we have ACC or the 2101 will persist. I've been digging through the spreadsheets, and it looks like there's spots on the BCM, IPMA, IPC, ABS, and APIM that we need to modify. I grabbed a few lariat as-builts and compared the differences to my XL. I'm going to try again this weekend, I'll update if I learn anything.

@Maverick_Dave

I plugged in my CCM, made all these changes. Zero 2101 DTCs, just some DTCs I can never clear because I installed an amp on the door speakers.

The warning “collision assist disabled” disappeared on its own once I finished these. Lane keeping is enabled too.
I won’t be able to get any further until I actually install the CCM.

If your before config matches mine, you can go ahead and make these changes, if you don’t have Blindspot sensors, then a few of these might look different and might need to be adjusted.

Edit: collision assist disabled comes back after driving, but most likely because the CCM is dangling from the IPMA behind the rear seat back. It says blocked sensor on forscan.

 

[JCMavGuy]

@Maverick_Dave

I plugged in my CCM, made all these changes. Zero 2101 DTCs, just some DTCs I can never clear because I installed an amp on the door speakers.

The warning “collision assist disabled” disappeared on its own once I finished these. Lane keeping is enabled too.
I won’t be able to get any further until I actually install the CCM.

If your before config matches mine, you can go ahead and make these changes, if you don’t have Blindspot sensors, then a few of these might look different and might need to be adjusted.

So am I understanding correctly, it sounds like the key here for the 25s was to swap in the lariat IPMA?

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