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Rivian: remove a VDM ACC fault signal #1951

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Mar 8, 2025
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Rivian: remove a VDM ACC fault signal #1951

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3 changes: 2 additions & 1 deletion opendbc/car/rivian/carstate.py
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Original file line number Diff line number Diff line change
Expand Up @@ -61,7 +61,8 @@ def update(self, can_parsers) -> structs.CarState:
ret.accFaulted = (cp_cam.vl["ACM_Status"]["ACM_FaultStatus"] == 1 or
# VDM_AdasFaultStatus=Brk_Intv is the default for some reason
# VDM_AdasFaultStatus=Imps_Cmd was seen when sending it rapidly changing ACC enable commands
cp.vl["VDM_AdasSts"]["VDM_AdasFaultStatus"] in (2, 3)) # 2=Cntr_Fault, 3=Imps_Cmd
# VDM_AdasFaultStatus=Cntr_Fault isn't fully understood, but we've seen it in the wild
cp.vl["VDM_AdasSts"]["VDM_AdasFaultStatus"] in (3,)) # 3=Imps_Cmd

# Gear
ret.gearShifter = GEAR_MAP.get(int(cp.vl["VDM_PropStatus"]["VDM_Prndl_Status"]), GearShifter.unknown)
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