Tesla: detect missing DAS_settings (commaai#3082)

* detect das_settings

* clean up

* rm

* clean up

Author: sshane

opendbc/car/tesla/carstate.py

@@ -5,7 +5,7 @@
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.interfaces import CarStateBase
 from opendbc.car.tesla.teslacan import get_steer_ctrl_type
-from opendbc.car.tesla.values import DBC, CANBUS, GEAR_MAP, STEER_THRESHOLD, CAR, TeslaFlags
+from opendbc.car.tesla.values import DBC, CANBUS, GEAR_MAP, STEER_THRESHOLD, TeslaFlags
 
 ButtonType = structs.CarState.ButtonEvent.Type
 
@@ -116,8 +116,8 @@ def update(self, can_parsers) -> structs.CarState:
     ret.stockLkas = cp_ap_party.vl["DAS_steeringControl"]["DAS_steeringControlType"] == lkas_ctrl_type  # LANE_KEEP_ASSIST
 
     # Stock Autosteer should be off (includes FSD)
-    # TODO: find for TESLA_MODEL_X
-    if self.CP.carFingerprint in (CAR.TESLA_MODEL_3, CAR.TESLA_MODEL_Y):
+    # TODO: find for TESLA_MODEL_X and HW2.5 vehicles
+    if not (self.CP.flags & TeslaFlags.MISSING_DAS_SETTINGS):
       ret.invalidLkasSetting = cp_ap_party.vl["DAS_settings"]["DAS_autosteerEnabled"] != 0
 
       # Because we don't have FSD 14 detection outside of a set of FW, we should check if this FW is accidentally missing from FSD_14_FW

opendbc/car/tesla/interface.py

@@ -2,7 +2,7 @@
 from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.car.tesla.carcontroller import CarController
 from opendbc.car.tesla.carstate import CarState
-from opendbc.car.tesla.values import TeslaSafetyFlags, TeslaFlags, CAR, DBC, FSD_14_FW, Ecu
+from opendbc.car.tesla.values import TeslaSafetyFlags, TeslaFlags, CANBUS, CAR, DBC, FSD_14_FW, Ecu
 from opendbc.car.tesla.radar_interface import RadarInterface, RADAR_START_ADDR
 
 
@@ -23,6 +23,10 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_lo
 
     ret.steerControlType = structs.CarParams.SteerControlType.angle
 
+    # Model X and HW 2.5 vehicles are missing DAS_settings
+    if 0x293 not in fingerprint[CANBUS.autopilot_party]:
+      ret.flags |= TeslaFlags.MISSING_DAS_SETTINGS.value
+
     # Radar support is intended to work for:
     # - Tesla Model 3 vehicles built approximately mid-2017 through early-2021
     # - Tesla Model Y vehicles built approximately mid-2020 through early-2021

opendbc/car/tesla/values.py

@@ -135,6 +135,7 @@ class TeslaSafetyFlags(IntFlag):
 class TeslaFlags(IntFlag):
   LONG_CONTROL = 1
   FSD_14 = 2
+  MISSING_DAS_SETTINGS = 4
 
 
 DBC = CAR.create_dbc_map()