Chrylser: some Ram 1500 can steer to 0 (#25279)

3 years ago · 5101a7cf88
parent 347455325e
commit 5101a7cf88
2 changed files with 6 additions and 3 deletions
--- 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}")
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-2da0446f3cc0c4fd705f7b199ed1d9e6341fc466
+66790e176b98244bb76ce19fb1aa943b36c87dec