Chrysler: fix steer fault detection (#25068)

3 years ago · 836e2a4d98
parent 568cc0f892
commit 836e2a4d98
1 changed files with 1 additions and 2 deletions
--- 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: