steer at zero

selfdrive/car/toyota/values.py

@@ -23,11 +23,9 @@ class CarControllerParams:
 
   # stock LTA is 0 to 0.05 going straight
   # and 0.1 to 0.4 when turning (max seen is 0.6303)
-
   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_MAX = 2.0
   # needs to be within +-3 degrees of current angle to avoid windup
   ANGLE_DELTA_MAX = 3.0
 

selfdrive/controls/controlsd.py

@@ -571,8 +571,8 @@ class Controls:
     CC = car.CarControl.new_message()
     CC.enabled = self.enabled
     # Check which actuators can be enabled
-    CC.latActive = self.active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
-                   CS.vEgo > self.CP.minSteerSpeed and not CS.standstill
+    CC.latActive = self.active and not CS.steerFaultTemporary and not CS.steerFaultPermanent # and \
+                   # CS.vEgo > self.CP.minSteerSpeed and not CS.standstill
     CC.longActive = self.enabled and not self.events.any(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl
 
     actuators = CC.actuators

selfdrive/controls/lib/latcontrol.py

@@ -3,7 +3,7 @@ from abc import abstractmethod, ABC
 from common.numpy_fast import clip
 from common.realtime import DT_CTRL
 
-MIN_STEER_SPEED = 0.3
+MIN_STEER_SPEED = 0.0
 
 
 class LatControl(ABC):

selfdrive/controls/lib/latcontrol_angle.py

@@ -10,7 +10,7 @@ class LatControlAngle(LatControl):
   def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk):
     angle_log = log.ControlsState.LateralAngleState.new_message()
 
-    if not active:
+    if CS.vEgo < MIN_STEER_SPEED or not active:
       angle_log.active = False
       angle_steers_des = float(CS.steeringAngleDeg)
     else: