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Merge branch 'master' into dev-priv/master

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This commit is contained in:
Jason Wen
2023-06-08 09:58:20 -04:00
parent 75ca9e18e1 8949ad0b8f
commit c032563908
2 changed files with 12 additions and 6 deletions
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selfdrive/car/chrysler/carcontroller.py
+2 -2
View File
@@ -50,9 +50,9 @@ class CarController:
# TODO: can we make this more sane? why is it different for all the cars?
lkas_control_bit = self.lkas_control_bit_prev
if self.CP.carFingerprint in RAM_DT:
if CS.out.vEgo >= self.CP.minEnableSpeed and CS.out.vEgo <= self.CP.minEnableSpeed + 0.5:
if self.CP.minEnableSpeed <= CS.out.vEgo <= self.CP.minEnableSpeed + 0.5:
lkas_control_bit = True
if (self.CP.minEnableSpeed >= 14.5) and (CS.out.gearShifter != 2) :
if (self.CP.minEnableSpeed >= 14.5) and (CS.out.gearShifter != 2):
lkas_control_bit = False
elif CS.out.vEgo > self.CP.minSteerSpeed:
lkas_control_bit = True
selfdrive/car/chrysler/interface.py
+10 -4
View File
@@ -147,10 +147,16 @@ class CarInterface(CarInterfaceBase):
events, ret = self.create_sp_events(self.CS, ret, events)
# Low speed steer alert hysteresis logic
if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 0.5):
self.low_speed_alert = True
elif ret.vEgo > (self.CP.minSteerSpeed + 1.):
self.low_speed_alert = False
if self.CP.carFingerprint in RAM_DT:
if self.CS.out.vEgo >= self.CP.minEnableSpeed:
self.low_speed_alert = False
if (self.CP.minEnableSpeed >= 14.5) and (self.CS.out.gearShifter != car.CarState.GearShifter.drive):
self.low_speed_alert = True
else:
if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 0.5):
self.low_speed_alert = True
elif ret.vEgo > (self.CP.minSteerSpeed + 1.):
self.low_speed_alert = False
if self.low_speed_alert:
events.add(car.CarEvent.EventName.belowSteerSpeed)