From d9c348fb482b284392cb7c28d3581bc20c1bbd2d Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Thu, 8 Jun 2023 06:42:20 -0400 Subject: [PATCH] Ram DT: check EPS firmware explicitly to set minEnableSpeed to 0 (#173) --- selfdrive/car/chrysler/interface.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index 19530cd86a..0a9c0833d9 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -64,8 +64,7 @@ class CarInterface(CarInterfaceBase): ret.mass = 2493. + STD_CARGO_KG ret.minSteerSpeed = 0.5 ret.minEnableSpeed = 14.5 - # Certain EPS FW allow steer to zero - if any(fw.ecu == 'eps' and (fw.fwVersion[:4] <= b"6831" or fw.fwVersion[:4] <= b"6827") for fw in car_fw): + if any(fw.ecu == 'eps' and fw.fwVersion in (b"68273275AF", b"68273275AG", b"68312176AE", b"68312176AG",) for fw in car_fw): ret.minEnableSpeed = 0. elif candidate == CAR.RAM_HD: