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include PACIFICA_2020 in late-model behavior (#20399) 

These models need to turn off gone_fast_yet bit at -3 to avoid LKAS
faults.

This was likely an accidental omission from PR #1297
To avoid future similar mistakes, we could define a list of these cars
in values.py instead of having the list in multiple places.
albatross
Drew Hintz 2021-03-18 17:29:36 -07:00 committed by GitHub
parent 4ea0b04fed
commit 01f20229cb
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selfdrive/car/chrysler/carcontroller.py
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@ -32,7 +32,7 @@ class CarController():
moving_fast = CS.out.vEgo > CS.CP.minSteerSpeed # for status message
if CS.out.vEgo > (CS.CP.minSteerSpeed - 0.5): # for command high bit
self.gone_fast_yet = True
elif self.car_fingerprint in (CAR.PACIFICA_2019_HYBRID, CAR.JEEP_CHEROKEE_2019):
elif self.car_fingerprint in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019):
if CS.out.vEgo < (CS.CP.minSteerSpeed - 3.0):
self.gone_fast_yet = False # < 14.5m/s stock turns off this bit, but fine down to 13.5
lkas_active = moving_fast and enabled