Chrysler: send LKAS control bit while above minSteerSpeed (#25150)

* Chrysler: send LKAS control bit while above minSteerSpeed

* update refs

* rework that a bit

* little more

* update refs

selfdrive/car/chrysler/carcontroller.py

@@ -14,7 +14,7 @@ class CarController:
 
     self.hud_count = 0
     self.last_lkas_falling_edge = 0
-    self.lkas_active_prev = False
+    self.lkas_control_bit_prev = False
     self.last_button_frame = 0
 
     self.packer = CANPacker(dbc_name)
@@ -24,7 +24,8 @@ class CarController:
     can_sends = []
 
     # EPS faults if LKAS re-enables too quickly
-    lkas_active = CC.latActive and not low_speed_alert and (self.frame - self.last_lkas_falling_edge > 200)
+    lkas_control_bit = not low_speed_alert and (self.frame - self.last_lkas_falling_edge > 200)
+    lkas_active = CC.latActive and self.lkas_control_bit_prev
 
     # *** control msgs ***
 
@@ -59,12 +60,12 @@ class CarController:
       self.apply_steer_last = apply_steer
 
       idx = self.frame // 2
-      can_sends.append(create_lkas_command(self.packer, self.CP, int(apply_steer), lkas_active, idx))
+      can_sends.append(create_lkas_command(self.packer, self.CP, int(apply_steer), lkas_control_bit, idx))
 
     self.frame += 1
-    if not lkas_active and self.lkas_active_prev:
+    if not lkas_control_bit and self.lkas_control_bit_prev:
       self.last_lkas_falling_edge = self.frame
-    self.lkas_active_prev = lkas_active
+    self.lkas_control_bit_prev = lkas_control_bit
 
     new_actuators = CC.actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX

selfdrive/car/chrysler/chryslercan.py

@@ -52,12 +52,12 @@ def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, au
   return packer.make_can_msg("DAS_6", 0, values)
 
 
-def create_lkas_command(packer, CP, apply_steer, lat_active, frame):
+def create_lkas_command(packer, CP, apply_steer, lkas_control_bit, frame):
   # LKAS_COMMAND Lane-keeping signal to turn the wheel
   enabled_val = 2 if CP.carFingerprint in RAM_CARS else 1
   values = {
     "STEERING_TORQUE": apply_steer,
-    "LKAS_CONTROL_BIT": enabled_val if lat_active else 0,
+    "LKAS_CONTROL_BIT": enabled_val if lkas_control_bit else 0,
   }
   return packer.make_can_msg("LKAS_COMMAND", 0, values, frame % 0x10)
 

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-5efbbdf69e16db3d989bfaf62d10e958e80b9ca2
+7fbe776f271ed2d45abe989736133a5cfa0ec826