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EAC_INHIBITED is not an actual error, when this is removed all "LKAS fault" errors are fixed. (#21469)

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old-commit-hash: d4713946f234a302f939d5a8e23659ad384e31e8
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kennedyshead
2021-07-03 23:55:54 +02:00
committed by GitHub
parent 19bc1b7397
commit 9999af4d91
1 changed files with 1 additions and 1 deletions
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selfdrive/car/tesla/carstate.py
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@@ -42,7 +42,7 @@ class CarState(CarStateBase):
ret.steeringRateDeg = -cp.vl["STW_ANGLHP_STAT"]["StW_AnglHP_Spd"] # This is from a different angle sensor, and at different rate
ret.steeringTorque = -cp.vl["EPAS_sysStatus"]["EPAS_torsionBarTorque"]
ret.steeringPressed = (self.hands_on_level > 0)
ret.steerError = steer_status in ["EAC_FAULT", "EAC_INHIBITED"]
ret.steerError = steer_status == "EAC_FAULT"
ret.steerWarning = self.steer_warning in ["EAC_ERROR_MAX_SPEED", "EAC_ERROR_MIN_SPEED", "EAC_ERROR_TMP_FAULT", "SNA"] # TODO: not sure if this list is complete
# Cruise state