From 09cf8ef7340a7f7ce86aabfc2ffaa92739723433 Mon Sep 17 00:00:00 2001 From: DP Date: Sat, 5 Apr 2025 21:54:02 -0500 Subject: [PATCH] FCA: Ram 1500 improvements --- selfdrive/car/car_specific.py | 17 ++++++++++++----- 1 file changed, 12 insertions(+), 5 deletions(-) diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py index 2d69d3d590..b843311273 100644 --- a/selfdrive/car/car_specific.py +++ b/selfdrive/car/car_specific.py @@ -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)