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gm: treat LKATorqueDeliveredStatus==3 as temporary steer fault (Equinox low-speed LKAS latch)

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mawei
2026-10-16 09:57:33 +08:00
parent 1e58de131a
commit f9d917545e
1 changed files with 4 additions and 2 deletions
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opendbc_repo/opendbc/car/gm/carstate.py
+4 -2
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@@ -109,9 +109,11 @@ class CarState(CarStateBase, CarStateExt):
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
# 0 inactive, 1 active, 2 temporarily limited, 3 failed
# GM EPS latches status 3 (failed) when LKA is active and vehicle speed drops below
# ~10 km/h (seen on Equinox). It is recoverable (clears after speed recovers / restart),
# so treat it as temporary to avoid the permanent "LKAS Fault: Restart the Car" lockout.
self.lkas_status = pt_cp.vl["PSCMStatus"]["LKATorqueDeliveredStatus"]
ret.steerFaultTemporary = self.lkas_status == 2
ret.steerFaultPermanent = self.lkas_status == 3
ret.steerFaultTemporary = self.lkas_status in (2, 3)
# 1 - open, 0 - closed
ret.doorOpen = (pt_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or