From 836e2a4d98b587b7ae083bb710190ed1dfa9dccf Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 7 Jul 2022 13:20:42 -0700
Subject: [PATCH] Chrysler: fix steer fault detection (#25068)

---
 selfdrive/car/chrysler/carstate.py | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
index 71b7e3462..47b28f9e0 100644
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@@ -83,8 +83,7 @@ class CarState(CarStateBase):
       self.auto_high_beam = cp_cam.vl["DAS_6"]['AUTO_HIGH_BEAM_ON']  # Auto High Beam isn't Located in this message on chrysler or jeep currently located in 729 message
       ret.steerFaultTemporary  = cp.vl["EPS_3"]["DASM_FAULT"] == 1
     else:
-      steer_state = cp.vl["EPS_2"]["LKAS_STATE"]
-      ret.steerFaultPermanent = steer_state == 4 or (steer_state == 0 and ret.vEgo > self.CP.minSteerSpeed)
+      ret.steerFaultPermanent = cp.vl["EPS_2"]["LKAS_STATE"] == 4
 
     # blindspot sensors
     if self.CP.enableBsm: