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Chrysler: fix steer fault detection (#25068)

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This commit is contained in:
Adeeb Shihadeh
2022-07-07 13:20:42 -07:00
committed by GitHub
parent 568cc0f892
commit 836e2a4d98
1 changed files with 1 additions and 2 deletions
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3
selfdrive/car/chrysler/carstate.py
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@@ -83,8 +83,7 @@ class CarState(CarStateBase):
self.auto_high_beam = cp_cam.vl["DAS_6"]['AUTO_HIGH_BEAM_ON'] # Auto High Beam isn't Located in this message on chrysler or jeep currently located in 729 message
ret.steerFaultTemporary = cp.vl["EPS_3"]["DASM_FAULT"] == 1
else:
steer_state = cp.vl["EPS_2"]["LKAS_STATE"]
ret.steerFaultPermanent = steer_state == 4 or (steer_state == 0 and ret.vEgo > self.CP.minSteerSpeed)
ret.steerFaultPermanent = cp.vl["EPS_2"]["LKAS_STATE"] == 4
# blindspot sensors
if self.CP.enableBsm: