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Published 20 hours ago • verified publisher icon commaai

Ram Long/S0/CruiseFix

Open realfast opened this issue 2 years ago • 0 comments

@adeebshihadeh suggested I submit this as a dirty PR.

Included is an initial step towards long control for Ram trucks which should roll over to all Chryslers. Chryslers use m/s2 for deceleration, but torque for acceleration. I have left live tuning in to allow quick adjustments while we work towards something acceptable.

A steer to 0 fix for all Ram DT trucks. If a truck does not allow true steer to 0, we can turn the control bit on over 32mph and leave it on. The only drawback is we have to turn the bit off if the truck ever shifts out of drive.

The last fix includes eliminating the cruise resume/cancel spamming for Rams. I block the messages to the DASM from the cruise buttons and send them with car controller instead.

realfast avatar Aug 23 '22 19:08 realfast