Ram 1500: more generic EPS steer to zero check (#27086)

more generic check
2 years ago · 4d231a9d96
parent ad6ee2669c
commit 4d231a9d96
1 changed files with 3 additions and 3 deletions
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@ -58,9 +58,9 @@ class CarInterface(CarInterfaceBase):
      ret.mass = 2493. + STD_CARGO_KG
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
      ret.minSteerSpeed = 14.5
-      for fw in car_fw:
-        if fw.ecu == 'eps' and fw.fwVersion.startswith((b"68312176", b"68273275")):
-          ret.minSteerSpeed = 0.
+      # Older EPS FW allow steer to zero
+      if any(fw.ecu == 'eps' and fw.fwVersion[:4] <= b"6831" for fw in car_fw):
+        ret.minSteerSpeed = 0.

    elif candidate == CAR.RAM_HD:
      ret.steerActuatorDelay = 0.2