From 5101a7cf8889750e1ed8269f0e456a29f9f444eb Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 25 Jul 2022 15:21:58 -0700 Subject: [PATCH] Chrylser: some Ram 1500 can steer to 0 (#25279) --- selfdrive/car/chrysler/interface.py | 7 +++++-- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 6 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index 56cece47bc..3c2bc3131a 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -51,10 +51,13 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 3.88 ret.steerRatio = 16.3 ret.mass = 2493. + STD_CARGO_KG - ret.maxLateralAccel = 2.4 - ret.minSteerSpeed = 14.5 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + ret.minSteerSpeed = 14.5 + if car_fw is not None: + for fw in car_fw: + if fw.ecu == 'eps' and fw.fwVersion in (b"68312176AE", b"68312176AG", b"68273275AG"): + ret.minSteerSpeed = 0. else: raise ValueError(f"Unsupported car: {candidate}") diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 5067208d0e..01e762d336 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -2da0446f3cc0c4fd705f7b199ed1d9e6341fc466 \ No newline at end of file +66790e176b98244bb76ce19fb1aa943b36c87dec \ No newline at end of file