From 9999af4d916eb6efec9294cd8325d6ae5643dd38 Mon Sep 17 00:00:00 2001 From: kennedyshead Date: Sat, 3 Jul 2021 23:55:54 +0200 Subject: [PATCH] EAC_INHIBITED is not an actual error, when this is removed all "LKAS fault" errors are fixed. (#21469) old-commit-hash: d4713946f234a302f939d5a8e23659ad384e31e8 --- selfdrive/car/tesla/carstate.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/tesla/carstate.py b/selfdrive/car/tesla/carstate.py index 7152c969cc..2041526112 100644 --- a/selfdrive/car/tesla/carstate.py +++ b/selfdrive/car/tesla/carstate.py @@ -42,7 +42,7 @@ class CarState(CarStateBase): ret.steeringRateDeg = -cp.vl["STW_ANGLHP_STAT"]["StW_AnglHP_Spd"] # This is from a different angle sensor, and at different rate ret.steeringTorque = -cp.vl["EPAS_sysStatus"]["EPAS_torsionBarTorque"] ret.steeringPressed = (self.hands_on_level > 0) - ret.steerError = steer_status in ["EAC_FAULT", "EAC_INHIBITED"] + ret.steerError = steer_status == "EAC_FAULT" ret.steerWarning = self.steer_warning in ["EAC_ERROR_MAX_SPEED", "EAC_ERROR_MIN_SPEED", "EAC_ERROR_TMP_FAULT", "SNA"] # TODO: not sure if this list is complete # Cruise state