From 01f20229cb893614c8ba669e426c0b0ef614e5e7 Mon Sep 17 00:00:00 2001 From: Drew Hintz Date: Thu, 18 Mar 2021 17:29:36 -0700 Subject: [PATCH] include PACIFICA_2020 in late-model behavior (#20399) These models need to turn off gone_fast_yet bit at -3 to avoid LKAS faults. This was likely an accidental omission from PR #1297 To avoid future similar mistakes, we could define a list of these cars in values.py instead of having the list in multiple places. --- selfdrive/car/chrysler/carcontroller.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py index 3ab2ff842a..83c6fcf3cf 100644 --- a/selfdrive/car/chrysler/carcontroller.py +++ b/selfdrive/car/chrysler/carcontroller.py @@ -32,7 +32,7 @@ class CarController(): moving_fast = CS.out.vEgo > CS.CP.minSteerSpeed # for status message if CS.out.vEgo > (CS.CP.minSteerSpeed - 0.5): # for command high bit self.gone_fast_yet = True - elif self.car_fingerprint in (CAR.PACIFICA_2019_HYBRID, CAR.JEEP_CHEROKEE_2019): + elif self.car_fingerprint in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019): if CS.out.vEgo < (CS.CP.minSteerSpeed - 3.0): self.gone_fast_yet = False # < 14.5m/s stock turns off this bit, but fine down to 13.5 lkas_active = moving_fast and enabled