Toyota: fix high driver torque LKAS fault regression (#31448)

one latactive
1 year ago · 136dc0313a
parent cff1ad9dd3
commit 136dc0313a
1 changed files with 2 additions and 2 deletions
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@ -55,10 +55,10 @@ class CarController:
    apply_steer = apply_meas_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.params)

    # >100 degree/sec steering fault prevention
-    self.steer_rate_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE, CC.latActive,
+    self.steer_rate_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE, lat_active,
                                                                      self.steer_rate_counter, MAX_STEER_RATE_FRAMES)

-    if not CC.latActive:
+    if not lat_active:
      apply_steer = 0

    # *** steer angle ***