HKG: lower torque rate limits for CAN-FD cars (#25770)

* Change ramp limits to 2/2 for CANFD cars * Only the high torque CANFD cars * comment * Update selfdrive/car/hyundai/values.py * Better to do 2/3 and for all cars * bump to master * update refs
3 years ago · d57e07eec0
parent 03314b3ddf
commit d57e07eec0
3 changed files with 4 additions and 2 deletions
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit f120999e19fed7208534ae74b542b5cca6bafeaa
+Subproject commit 38257a93e4733819a109a4ef52efed1bbeb45cc4
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@ -29,6 +29,8 @@ class CarControllerParams:
      self.STEER_DRIVER_ALLOWANCE = 250
      self.STEER_DRIVER_MULTIPLIER = 2
      self.STEER_THRESHOLD = 250
+      self.STEER_DELTA_UP = 2
+      self.STEER_DELTA_DOWN = 3

    # To determine the limit for your car, find the maximum value that the stock LKAS will request.
    # If the max stock LKAS request is <384, add your car to this list.
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-3ad478bf44f50815d05acc5b12ff2f01a6cb42ff
+dac3c51684e101672bc27df13e76577103531e30