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Chrysler non-ACC Fix - Only allow openpilot in ACC mode (#19581)

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* initial try, needs to be tested

* Chrysler: Add to CAN parser

* Chrysler: move cruise state by other dash message

* fix messed up force push

* whitespace

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 937aa829a3a4871e46bddfb42e67c37d38884da6
This commit is contained in:
vanillagorillaa
2021-01-06 12:06:03 -08:00
committed by GitHub
parent af4b8bb307
commit 3af3dc7d76
1 changed files with 3 additions and 0 deletions
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selfdrive/car/chrysler/carstate.py
+3
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@@ -49,6 +49,8 @@ class CarState(CarStateBase):
ret.cruiseState.enabled = cp.vl["ACC_2"]['ACC_STATUS_2'] == 7 # ACC is green.
ret.cruiseState.available = ret.cruiseState.enabled # FIXME: for now same as enabled
ret.cruiseState.speed = cp.vl["DASHBOARD"]['ACC_SPEED_CONFIG_KPH'] * CV.KPH_TO_MS
# CRUISE_STATE is a three bit msg, 0 is off, 1 and 2 are Non-ACC mode, 3 and 4 are ACC mode, find if there are other states too
ret.cruiseState.nonAdaptive = cp.vl["DASHBOARD"]['CRUISE_STATE'] in [1, 2]
ret.steeringTorque = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"]
ret.steeringTorqueEps = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"]
@@ -87,6 +89,7 @@ class CarState(CarStateBase):
("ACC_STATUS_2", "ACC_2", 0),
("HIGH_BEAM_FLASH", "STEERING_LEVERS", 0),
("ACC_SPEED_CONFIG_KPH", "DASHBOARD", 0),
("CRUISE_STATE", "DASHBOARD", 0),
("TORQUE_DRIVER", "EPS_STATUS", 0),
("TORQUE_MOTOR", "EPS_STATUS", 0),
("LKAS_STATE", "EPS_STATUS", 1),