IQ.Pilot Prebuilt Release @ 27f668a

artifacts/package_runtime/iqdbc/lvbs/car/chrysler/iq_carcontroller.py

@@ -0,0 +1,30 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+
+Chrysler low-speed steering gate: overrides the stock LKAS control bit when the
+no-min-steering-speed option is set, and holds the RAM DT engagement window.
+"""
+from iqdbc.car import structs
+from iqdbc.car.interfaces import CarStateBase
+from iqdbc.car.chrysler.values import RAM_DT
+from iqdbc.lvbs.car.chrysler.iq_values import ChryslerFlagsIQ
+
+GearShifter = structs.CarState.GearShifter
+
+
+class IQCarController:
+  def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams):
+    self.CP = CP
+    self.CP_IQ = CP_IQ
+
+  def get_lkas_control_bit(self, CS: CarStateBase, CC: structs.CarControl, lkas_control_bit: bool) -> bool:
+    if self.CP_IQ.flags & ChryslerFlagsIQ.NO_MIN_STEERING_SPEED:
+      return CC.latActive
+
+    if self.CP.carFingerprint in RAM_DT:
+      if self.CP.minEnableSpeed <= CS.out.vEgo <= self.CP.minEnableSpeed + 0.5:
+        lkas_control_bit = True
+      if self.CP.minEnableSpeed >= 14.5 and CS.out.gearShifter != GearShifter.drive:
+        lkas_control_bit = False
+
+    return lkas_control_bit