Tesla: half the DAS_steeringControl message rate (#27503)

* half the freq, double the limit

* fix bug

* bump submodule
old-commit-hash: 7ab9569a08

panda

@@ -1 +1 @@
-Subproject commit 00c26894876484d2c5a5b63a1c33c28f0f9b15dd
+Subproject commit 5847d7dbc05df3bc76243b6704b9d98544eb53df

selfdrive/car/tesla/carcontroller.py

@@ -24,17 +24,18 @@ class CarController:
     hands_on_fault = CS.steer_warning == "EAC_ERROR_HANDS_ON" and CS.hands_on_level >= 3
     lkas_enabled = CC.latActive and not hands_on_fault
 
-    if lkas_enabled:
-      # Angular rate limit based on speed
-      apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo, CarControllerParams)
+    if self.frame % 2 == 0:
+      if lkas_enabled:
+        # Angular rate limit based on speed
+        apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo, CarControllerParams)
 
-      # To not fault the EPS
-      apply_angle = clip(apply_angle, CS.out.steeringAngleDeg - 20, CS.out.steeringAngleDeg + 20)
-    else:
-      apply_angle = CS.out.steeringAngleDeg
+        # To not fault the EPS
+        apply_angle = clip(apply_angle, CS.out.steeringAngleDeg - 20, CS.out.steeringAngleDeg + 20)
+      else:
+        apply_angle = CS.out.steeringAngleDeg
 
-    self.apply_angle_last = apply_angle
-    can_sends.append(self.tesla_can.create_steering_control(apply_angle, lkas_enabled, self.frame))
+      self.apply_angle_last = apply_angle
+      can_sends.append(self.tesla_can.create_steering_control(apply_angle, lkas_enabled, (self.frame // 2) % 16))
 
     # Longitudinal control (in sync with stock message, about 40Hz)
     if self.CP.openpilotLongitudinalControl:
@@ -59,7 +60,7 @@ class CarController:
     # TODO: HUD control
 
     new_actuators = actuators.copy()
-    new_actuators.steeringAngleDeg = apply_angle
+    new_actuators.steeringAngleDeg = self.apply_angle_last
 
     self.frame += 1
     return new_actuators, can_sends

selfdrive/car/tesla/teslacan.py

@@ -17,12 +17,12 @@ class TeslaCAN:
     ret += sum(dat)
     return ret & 0xFF
 
-  def create_steering_control(self, angle, enabled, frame):
+  def create_steering_control(self, angle, enabled, counter):
     values = {
       "DAS_steeringAngleRequest": -angle,
       "DAS_steeringHapticRequest": 0,
       "DAS_steeringControlType": 1 if enabled else 0,
-      "DAS_steeringControlCounter": (frame % 16),
+      "DAS_steeringControlCounter": counter,
     }
 
     data = self.packer.make_can_msg("DAS_steeringControl", CANBUS.chassis, values)[2]

selfdrive/car/tesla/values.py

@@ -103,8 +103,8 @@ BUTTONS = [
 ]
 
 class CarControllerParams:
-  ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., .8, .15])
-  ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., 3.5, 0.4])
+  ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[10., 1.6, .3])
+  ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[10., 7.0, 0.8])
   JERK_LIMIT_MAX = 8
   JERK_LIMIT_MIN = -8
   ACCEL_TO_SPEED_MULTIPLIER = 3