Merge pull request commaai#237 from arne182/release2

update to latest release2

.gitignore

@@ -32,6 +32,7 @@ selfdrive/proclogd/proclogd
 selfdrive/ui/ui
 selfdrive/test/tests/plant/out
 selfdrive/visiond/visiond
+selfdrive/visiond/visiond-normal
 /src/
 
 one

selfdrive/car/car_helpers.py

@@ -83,23 +83,20 @@ def fingerprint(logcan, timeout):
     time.sleep(0.01)
   try:
     with open("/data/kegman.json", "r") as f:
-      cloudlog.warning(f.read())
-    f.close()
+      cloudlog.warning(str(f.read()))
   except:
     pass
   try:
     with open("/data/params/d/ControlsParams", "r") as f:
       cloudlog.warning(f.read())
-    f.close()
   except:
     pass
   try:
     with open("/data/params/d/LiveParameters", "r") as f:
       cloudlog.warning(f.read())
-    f.close()
   except:
     pass
-  crash.capture_warning("fingerprinted %s" % candidate_cars[0])
+
   cloudlog.warning("fingerprinted %s", candidate_cars[0])
 
   return (candidate_cars[0], finger)
@@ -116,7 +113,13 @@ def get_car(logcan, sendcan=None, passive=True):
       candidate = "mock"
     else:
       return None, None
-
+  else:
+    cloudlog.warning("car does match fingerprint: %r", fingerprints)
+    try:
+      crash.capture_warning("fingerprinted %s" % candidate)
+    except:  # fixes occasional travis errors
+      pass
+
   interface_cls = interfaces[candidate]
 
   if interface_cls is None:

selfdrive/car/chrysler/carcontroller.py

@@ -85,7 +85,7 @@ def update(self, sendcan, enabled, CS, frame, actuators,
     if not lkas_active:
       apply_steer = 0
 
-    if CS.cstm_btns.get_button_status("lka") == 0:
+    if not CS.lane_departure_toggle_on:
         apply_steer = 0
     self.apply_steer_last = apply_steer
 

selfdrive/car/chrysler/carstate.py

@@ -4,7 +4,7 @@
 from selfdrive.car.modules.UIBT_module import UIButtons,UIButton
 from selfdrive.car.modules.UIEV_module import UIEvents
 import numpy as np
-from selfdrive.kegman_conf import kegman_conf
+import selfdrive.kegman_conf as kegman
 
 
 def parse_gear_shifter(can_gear):
@@ -80,20 +80,22 @@ def get_camera_parser(CP):
 
 class CarState(object):
   def __init__(self, CP):
-    self.kegman = kegman_conf()
+    self.gasMode = int(kegman.conf['lastGasMode'])
+    self.gasLabels = ["dynamic","sport","eco"]
     self.alcaLabels = ["MadMax","Normal","Wifey","off"]
-    self.alcaMode = int(self.kegman.conf['lastALCAMode'])
+    self.alcaMode = int(kegman.conf['lastALCAMode'])
+    steerRatio = CP.steerRatio
     self.prev_distance_button = 0
     self.distance_button = 0
     self.prev_lka_button = 0
     self.lka_button = 0
     self.lkMode = True
-
+    self.lane_departure_toggle_on = True
     # ALCA PARAMS
     self.blind_spot_on = bool(0)
     # max REAL delta angle for correction vs actuator
-    self.CL_MAX_ANGLE_DELTA_BP = [10., 32., 44.]
-    self.CL_MAX_ANGLE_DELTA = [0.77, 0.86, 0.535]
+    self.CL_MAX_ANGLE_DELTA_BP = [10., 32., 55.]
+    self.CL_MAX_ANGLE_DELTA = [0.77 * 16.2 / steerRatio, 0.86 * 16.2 / steerRatio, 0.535 * 16.2 / steerRatio]
     # adjustment factor for merging steer angle to actuator; should be over 4; the higher the smoother
     self.CL_ADJUST_FACTOR_BP = [10., 44.]
     self.CL_ADJUST_FACTOR = [16. , 8.]
@@ -163,7 +165,7 @@ def init_ui_buttons(self):
     btns.append(UIButton("alca", "ALC", 0, self.alcaLabels[self.alcaMode], 1))
     btns.append(UIButton("","",0,"",2))
     btns.append(UIButton("","",0,"",3))
-    btns.append(UIButton("gas","GAS",1,"",4))
+    btns.append(UIButton("gas","GAS",1,self.gasLabels[self.gasMode],4))
     btns.append(UIButton("lka","LKA",1,"",5))
     return btns
   #BB update ui buttons
@@ -172,25 +174,30 @@ def update_ui_buttons(self,id,btn_status):
       if (id == 1) and (btn_status == 0) and self.cstm_btns.btns[id].btn_name=="alca":
           if self.cstm_btns.btns[id].btn_label2 == self.alcaLabels[self.alcaMode]:
             self.alcaMode = (self.alcaMode + 1 ) % 4
-            self.kegman.conf['lastALCAMode'] = str(self.alcaMode)   # write last distance bar setting to file
-            self.kegman.write_config(self.kegman.conf) 
+            kegman.save({'lastALCAMode': int(self.alcaMode)})  # write last distance bar setting to file
           else:
             self.alcaMode = 0
-            self.kegman.conf['lastALCAMode'] = str(self.alcaMode)   # write last distance bar setting to file
-            self.kegman.write_config(self.kegman.conf) 
+            kegman.save({'lastALCAMode': int(self.alcaMode)})  # write last distance bar setting to file
           self.cstm_btns.btns[id].btn_label2 = self.alcaLabels[self.alcaMode]
           self.cstm_btns.hasChanges = True
           if self.alcaMode == 3:
             self.cstm_btns.set_button_status("alca", 0)
-
+      elif (id == 4) and (btn_status == 0) and self.cstm_btns.btns[id].btn_name=="gas":
+          if self.cstm_btns.btns[id].btn_label2 == self.gasLabels[self.gasMode]:
+            self.gasMode = (self.gasMode + 1 ) % 3
+            kegman.save({'lastGasMode': int(self.gasMode)})  # write last GasMode setting to file
+          else:
+            self.gasMode = 0
+            kegman.save({'lastGasMode': int(self.gasMode)})  # write last GasMode setting to file
+          self.cstm_btns.btns[id].btn_label2 = self.gasLabels[self.gasMode]
+          self.cstm_btns.hasChanges = True
       else:
         self.cstm_btns.btns[id].btn_status = btn_status * self.cstm_btns.btns[id].btn_status
     else:
         self.cstm_btns.btns[id].btn_status = btn_status
         if (id == 1) and self.cstm_btns.btns[id].btn_name=="alca":
           self.alcaMode = (self.alcaMode + 1 ) % 4
-          self.kegman.conf['lastALCAMode'] = str(self.alcaMode)   # write last distance bar setting to file
-          self.kegman.write_config(self.kegman.conf) 
+          kegman.save({'lastALCAMode': int(self.alcaMode)})  # write last distance bar setting to file
           self.cstm_btns.btns[id].btn_label2 = self.alcaLabels[self.alcaMode]
           self.cstm_btns.hasChanges = True
 
@@ -256,3 +263,12 @@ def update(self, cp, cp_cam):
     self.lkas_car_model = cp_cam.vl["LKAS_HUD"]['CAR_MODEL']
     self.lkas_status_ok = cp_cam.vl["LKAS_HEARTBIT"]['LKAS_STATUS_OK']
 
+    if self.cstm_btns.get_button_status("lka") == 0:
+      self.lane_departure_toggle_on = False
+    else:
+      self.lane_departure_toggle_on = True
+
+    if self.alcaMode == 3 and (self.left_blinker_on or self.right_blinker_on):
+      self.lane_departure_toggle_on = False
+    else:
+      self.lane_departure_toggle_on = True

selfdrive/car/chrysler/interface.py

@@ -73,7 +73,7 @@ def get_params(candidate, fingerprint):
     # Speed conversion:              20, 45 mph
     ret.steerKpBP, ret.steerKiBP = [[9., 20.], [9., 20.]]
     ret.wheelbase = 3.089  # in meters for Pacifica Hybrid 2017
-    ret.steerRatio = 16.2 # Pacifica Hybrid 2017
+    ret.steerRatio = 12.0 # 0.5.10
     ret.mass = 2858 + std_cargo  # kg curb weight Pacifica Hybrid 2017
     ret.steerKpV, ret.steerKiV =   [[0.15,0.30], [0.03,0.05]]
     ret.steerKf = 0.00006   # full torque for 10 deg at 80mph means 0.00007818594
@@ -82,7 +82,7 @@ def get_params(candidate, fingerprint):
 
     if candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
       ret.wheelbase = 2.91  # in meters
-      ret.steerRatio = 12.7
+      ret.steerRatio = 11.6 # 0.5.10
       ret.steerActuatorDelay = 0.2  # in seconds
 
     ret.centerToFront = ret.wheelbase * 0.44
@@ -220,7 +220,7 @@ def update(self, c):
 
     ret.genericToggle = self.CS.generic_toggle
 
-    ret.gasbuttonstatus = self.CS.cstm_btns.get_button_status("gas")
+    ret.gasbuttonstatus = self.CS.gasMode
     # events
     events = []
     if not self.CS.can_valid:

selfdrive/car/chrysler/values.py

@@ -27,7 +27,7 @@ class CAR:
     {55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 8, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8},
   ],
   CAR.PACIFICA_2018_HYBRID: [
-    {68: 8, 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8},
+    {68: 8, 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 777: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 999: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1538: 8},
   ],
   CAR.PACIFICA_2019_HYBRID: [
     {168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770:8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1538: 8},
@@ -36,7 +36,7 @@ class CAR:
     # JEEP GRAND CHEROKEE V6 2018
     {55: 8, 168: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 844: 5, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8},
     # Jeep Grand Cherokee 2017 Trailhawk
-    {257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 660: 8, 671: 8, 672: 8, 680: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 752: 2, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 783: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 844: 5, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8},
+    {257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 660: 8, 671: 8, 672: 8, 680: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 752: 2, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 783: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 844: 5, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 937: 8, 947: 8, 948: 8, 956: 8, 969: 4, 974: 5, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8},
   ],
   CAR.JEEP_CHEROKEE_2019: [
     # Jeep Grand Cherokee 2019 from Switzerland

selfdrive/car/gm/carcontroller.py

@@ -125,7 +125,7 @@ def update(self, sendcan, enabled, CS, frame, actuators, \
 
       self.apply_steer_last = apply_steer
       idx = (frame / P.STEER_STEP) % 4
-      if CS.cstm_btns.get_button_status("lka") == 0:
+      if not CS.lane_departure_toggle_on:
         apply_steer = 0
 
       if self.car_fingerprint in SUPERCRUISE_CARS: