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Ram 1500: more generic EPS steer to zero check (#27086)

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more generic check
old-commit-hash: 4d231a9d96a54ba0ed163e4aa487876f811a97cb
This commit is contained in:
Shane Smiskol
2023-01-26 00:48:59 -08:00
committed by GitHub
parent 51148d7551
commit fbf2e53198
1 changed files with 3 additions and 3 deletions
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selfdrive/car/chrysler/interface.py
+3 -3
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@@ -58,9 +58,9 @@ class CarInterface(CarInterfaceBase):
ret.mass = 2493. + STD_CARGO_KG
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
ret.minSteerSpeed = 14.5
for fw in car_fw:
if fw.ecu == 'eps' and fw.fwVersion.startswith((b"68312176", b"68273275")):
ret.minSteerSpeed = 0.
# Older EPS FW allow steer to zero
if any(fw.ecu == 'eps' and fw.fwVersion[:4] <= b"6831" for fw in car_fw):
ret.minSteerSpeed = 0.
elif candidate == CAR.RAM_HD:
ret.steerActuatorDelay = 0.2