From d5719913a97f7cf3c3fc171d0aa562c7d9cafb15 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 13 Jul 2022 13:22:30 -0700
Subject: [PATCH] Chrysler: never drop control bit on older models (#25159)

* Chrysler: never drop control bit on older models

* update refs
---
 selfdrive/car/chrysler/carcontroller.py  | 17 ++++++++++++++---
 selfdrive/car/chrysler/interface.py      |  2 +-
 selfdrive/test/process_replay/ref_commit |  2 +-
 3 files changed, 16 insertions(+), 5 deletions(-)

diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
index 00893b6bc45872..6d158e7cd0c949 100644
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -2,7 +2,7 @@
 from common.realtime import DT_CTRL
 from selfdrive.car import apply_toyota_steer_torque_limits
 from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons
-from selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams
+from selfdrive.car.chrysler.values import CAR, RAM_CARS, CarControllerParams
 
 
 class CarController:
@@ -20,11 +20,22 @@ def __init__(self, dbc_name, CP, VM):
     self.packer = CANPacker(dbc_name)
     self.params = CarControllerParams(CP)
 
-  def update(self, CC, CS, low_speed_alert):
+  def update(self, CC, CS):
     can_sends = []
 
+    # TODO: can we make this more sane? why is it different for all the cars?
+    lkas_control_bit = self.lkas_control_bit_prev
+    if CS.out.vEgo > self.CP.minSteerSpeed:
+      lkas_control_bit = True
+    elif self.CP.carFingerprint in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019):
+      if CS.out.vEgo < (self.CP.minSteerSpeed - 3.0):
+        lkas_control_bit = False
+    elif self.CP.carFingerprint in RAM_CARS:
+      if CS.out.vEgo < (self.CP.minSteerSpeed - 0.5):
+        lkas_control_bit = False
+
     # EPS faults if LKAS re-enables too quickly
-    lkas_control_bit = not low_speed_alert and (self.frame - self.last_lkas_falling_edge > 200)
+    lkas_control_bit = lkas_control_bit and (self.frame - self.last_lkas_falling_edge > 200)
     lkas_active = CC.latActive and self.lkas_control_bit_prev
 
     # *** control msgs ***
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index 8826a925236148..acc08954a844dd 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -93,4 +93,4 @@ def _update(self, c):
     return ret
 
   def apply(self, c):
-    return self.CC.update(c, self.CS, self.low_speed_alert)
+    return self.CC.update(c, self.CS)
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index c99a1653f4c2c3..dff232911e53b0 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-7fbe776f271ed2d45abe989736133a5cfa0ec826
\ No newline at end of file
+fa52fa6c6703269e23610b1c6aba8a56b911fbbb
\ No newline at end of file