sadmen
/
openpilot_comma
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

sign doesn't seem to matter

Browse Source
pull/24067/head
Shane Smiskol 4 years ago
parent 18a4c62e7f
commit 3d036b6169
1 changed files with 1 additions and 2 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 3
      selfdrive/car/toyota/carcontroller.py

3
selfdrive/car/toyota/carcontroller.py
Unescape View File

@ -67,8 +67,7 @@ class CarController:
# EPS_STATUS->LKA_STATE either goes to 21 or 25 on rising edge of a steering fault and # EPS_STATUS->LKA_STATE either goes to 21 or 25 on rising edge of a steering fault and
# the value seems to describe how many frames the steering rate was above 100 deg/s, so # the value seems to describe how many frames the steering rate was above 100 deg/s, so
# cut torque with some margin for the lower state # cut torque with some margin for the lower state
# Only cut torque when steering angle and rate have opposite signs predicted_steering_fault = self.frames_above_rate_threshold > 18
predicted_steering_fault = self.frames_above_rate_threshold > 18 # and (CS.out.steeringRateDeg * CS.out.steeringAngleDeg) < 0
# Cut steering while we're in a known fault state (2s) or about to be # Cut steering while we're in a known fault state (2s) or about to be
if not CC.latActive or CS.steer_state in (9, 25) or predicted_steering_fault: if not CC.latActive or CS.steer_state in (9, 25) or predicted_steering_fault:

Write Preview
Loading…
Cancel
Save