Torque control: max torque warning (#25018)

* New steer torque warning

* typo
pull/25023/head
HaraldSchafer 3 years ago committed by GitHub
parent e11bb76a64
commit 0c95493dc0
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
  1. 11
      selfdrive/controls/controlsd.py

@ -317,7 +317,7 @@ class Controls:
self.events.add(EventName.commIssue)
elif not self.sm.all_freq_ok():
self.events.add(EventName.commIssueAvgFreq)
else: # invalid or can_rcv_error.
else: # invalid or can_rcv_error.
self.events.add(EventName.commIssue)
logs = {
@ -598,7 +598,14 @@ class Controls:
lac_log.saturated = abs(actuators.steer) >= 0.9
# Send a "steering required alert" if saturation count has reached the limit
if lac_log.active and lac_log.saturated and not CS.steeringPressed:
if lac_log.active and not CS.steeringPressed and self.CP.lateralTuning.which() == 'torque':
undershooting = abs(lac_log.desiredLateralAccel) / abs(1e-3 + lac_log.actualLateralAccel) > 1.2
turning = abs(lac_log.desiredLateralAccel) > 1.0
good_speed = CS.vEgo > 5
max_torque = abs(self.last_actuators.steer) > 0.99
if undershooting and turning and good_speed and max_torque:
self.events.add(EventName.steerSaturated)
elif lac_log.active and lac_log.saturated and not CS.steeringPressed:
dpath_points = lat_plan.dPathPoints
if len(dpath_points):
# Check if we deviated from the path

Loading…
Cancel
Save