mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-08-03 08:41:53 +08:00
Code Issues Packages Projects Releases Wiki Activity

FCA: Ram 1500 improvements

Browse Source
This commit is contained in:
DP
2025-04-05 21:54:02 -05:00
parent 976655b599
commit 09cf8ef734
1 changed files with 12 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/car_specific.py
+12 -5
View File
@@ -6,6 +6,7 @@ from opendbc.car.interfaces import MAX_CTRL_SPEED
from opendbc.car.volkswagen.values import CarControllerParams as VWCarControllerParams
from opendbc.car.hyundai.interface import ENABLE_BUTTONS as HYUNDAI_ENABLE_BUTTONS
from opendbc.car.hyundai.carstate import PREV_BUTTON_SAMPLES as HYUNDAI_PREV_BUTTON_SAMPLES
from opendbc.car.chrysler.values import RAM_DT
from openpilot.selfdrive.selfdrived.events import Events
@@ -54,11 +55,17 @@ class CarSpecificEvents:
elif self.CP.brand == 'chrysler':
events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.low])
# Low speed steer alert hysteresis logic
if self.CP.minSteerSpeed > 0. and CS.vEgo < (self.CP.minSteerSpeed + 0.5):
self.low_speed_alert = True
elif CS.vEgo > (self.CP.minSteerSpeed + 1.):
self.low_speed_alert = False
# Low speed steer alert hysteresis logic
if self.CP.carFingerprint in RAM_DT:
if CS.vEgo >= self.CP.minEnableSpeed:
self.low_speed_alert = False
if (self.CP.minEnableSpeed >= 14.5) and (CS.gearShifter != GearShifter.drive):
self.low_speed_alert = True
else:
if self.CP.minSteerSpeed > 0. and CS.vEgo < (self.CP.minSteerSpeed + 0.5):
self.low_speed_alert = True
elif CS.vEgo > (self.CP.minSteerSpeed + 1.):
self.low_speed_alert = False
if self.low_speed_alert:
events.add(EventName.belowSteerSpeed)