github-actions[bot]
de77c89cf6
version: sunnypilot v2026.002.000 (staging) date: 2026-07-21T07:44:02 master commit: 2c334ede443d7391d27575af8c854a095ba702a8
24 lines
895 B
Python
24 lines
895 B
Python
from opendbc.car import structs
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from opendbc.car.interfaces import CarStateBase
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from opendbc.car.chrysler.values import RAM_DT
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from opendbc.sunnypilot.car.chrysler.values_ext import ChryslerFlagsSP
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GearShifter = structs.CarState.GearShifter
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class CarControllerExt:
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def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP):
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self.CP = CP
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self.CP_SP = CP_SP
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def get_lkas_control_bit(self, CS: CarStateBase, CC: structs.CarControl, lkas_control_bit: bool) -> bool:
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if self.CP_SP.flags & ChryslerFlagsSP.NO_MIN_STEERING_SPEED:
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lkas_control_bit = CC.latActive
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elif self.CP.carFingerprint in RAM_DT:
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if self.CP.minEnableSpeed <= CS.out.vEgo <= self.CP.minEnableSpeed + 0.5:
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lkas_control_bit = True
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if self.CP.minEnableSpeed >= 14.5 and CS.out.gearShifter != GearShifter.drive:
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lkas_control_bit = False
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return lkas_control_bit
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