Openpilot: Chrysler Pacifica 2020 - LKAS fault occurs when LKAS disengages

[alekseymya]

Describe the bug
When vehicle speed goes below LKAS threshold, then OP loses its connection with LKAS. The following error occurs: "LKAS fault: Restart car to engage".
Vehicle: Chrysler Pacifica 2020
LKAS threshold: 38 m/h

How to reproduce or log data

1. Power up OpenPilot (OP)
2. Drive faster than 38m/h to engage LKAS
3. Slow back down to under 38m/h
4. LKAS error "LKAS fault: Restart car to engage" will appear on the OP screen.
5. The car will indicate that the LKAS system is unavailable.
6. OP functionality is unavailable.

Expected behavior
OP should be able to engage and re-engage when the vehicle speeds up to LKAS managed speed range.

Device/Version information (please complete the following information):

• Device: comma two
• Dongle ID: 3d84727705fecd04
• Route: 3d84727705fecd04|2020-08-30--19-27-54
• Timestamp: ~21:30
• Version:
  openpilot v0.7.8-release
  Git branch: release2
  Git revision: e164f7f99576
  Panda Firmware: bdcd195d8521b9d

• Car make/model: Chrysler Pacifica 2020

Additional context
When attempted to manually turn LKAS back on (button) after this error happens then LKAS turns off automatically.
Sometimes the car restart doesn't solve the problem. Panda dongle also has to be pulled out and re-inserted.

See attached Screenshots.

[adhintz]

What car model is OpenPilot fingerprinting your car as?

My guess is that you're being fingerprinted as a Pacifica 2017 or 2018. I'd like a feature that shows in the OpenPilot UI what car you're fingerprinted as.

To tell, ssh in to the Comma2 before you turn on your car and run tmux a Then as you turn on your car watch the scrolling text (and page back up as needed) to see what your car fingerprints as.

You'll probably need to run these commands to generate a fingerprint: https://github.com/commaai/openpilot/wiki/Fingerprinting#fingerprinting-10
Feel free to paste your fingerprint here and I'll see how it lines up with other models.

[pd0wm]

The posted route has carFingerprint = "CHRYSLER PACIFICA 2020",

[alekseymya]

Thank you @pd0wm
( key = "LiveParameters",
value = "{\"carFingerprint\": \"CHRYSLER PACIFICA 2020\", \"steerRatio\": 11.61391544342041, \"stiffnessFactor\": 0.9674015045166016, \"angleOffsetAverage\": -1.4258414506912231}" ),

@adhintz
I will also follow your instructions and see if I can get more data.

[adhintz]

Thanks for getting the fingerprint data from the route! Sounds like it's not a fingerprint issue.

If you'd like, feel free to get the Cabana link, click Copy Share Link, and send the link to me or post it here. That will let anyone with the link view your drive. If you'd like to look through it yourself, a few things I'd look for around the time of the LKAS fault:

• When you go below 38mph, that the LKAS_COMMAND 0x292 (658) messages sent by OpenPilot (on the 128+ bus) go down to 0 torque.
• That there are no gaps in the LKAS messages sent by OpenPilot, even a gap of 250ms will cause an LKAS fault.
• To find the time of the LKAS fault, look for when EPS_STATUS in LKAS_STATE goes to 4 or down to 0 while still going fast.

[VirtuallyChris]

I've had a few users reach out about this same bug, I recommended they add to this issue.

[alekseymya]

Run a better test at 17:15:04. Annotated as "LKAS error"
https://my.comma.ai/3d84727705fecd04/1599177756130/1599179548099#
P.S. @andyh2 I am still getting hang of things. I will try to recreate a very short test with minimal junk data.

[DubiousLatchkey]

I've also had this problem on a 2018 Pacifica as well when pressing the pedal while openpilot is engaged and at a full stop.