From ca2f6776ab97a4983ccd834ebf4d6bcc1dc4a351 Mon Sep 17 00:00:00 2001 From: Miles544 <162893957+ngk0@users.noreply.github.com> Date: Wed, 10 Apr 2024 23:22:10 -0400 Subject: [PATCH] Revert WP Testing Edits, Branched WP Testing into cherokee_kl_wp --- selfdrive/car/chrysler/carcontroller.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py index 054eb66b4b6d32..e6547e89b75219 100644 --- a/selfdrive/car/chrysler/carcontroller.py +++ b/selfdrive/car/chrysler/carcontroller.py @@ -51,7 +51,7 @@ def update(self, CC, CS, now_nanos): # 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 = CC.enabled + lkas_control_bit = True elif self.CP.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED: if CS.out.vEgo < (self.CP.minSteerSpeed - 3.0): lkas_control_bit = False @@ -62,7 +62,7 @@ def update(self, CC, CS, now_nanos): # TODO: Chrysler 200 appears to support asymmetric down to mid-13s, Cherokee not verified yet, model-year variances likely # TODO: Consolidate with HIGHER_MIN_STEERING_SPEED cars if we can make engage consistently work at 17.5 m/s if CS.out.vEgo < 16.5: - lkas_control_bit = CC.enabled + lkas_control_bit = False # EPS faults if LKAS re-enables too quickly lkas_control_bit = lkas_control_bit and (self.frame - self.last_lkas_falling_edge > 200)