still not good

2 years ago · 40534798f1
parent 0c12abcaea
commit 40534798f1
1 changed files with 3 additions and 3 deletions
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@ -88,9 +88,9 @@ class CarController:

      # limit max angle error between cmd and actual to reduce EPS integral windup
      # TODO: can we configure this with a signal?
-      apply_angle = clip(apply_angle,
-                         torque_sensor_angle - self.params.ANGLE_DELTA_MAX,
-                         torque_sensor_angle + self.params.ANGLE_DELTA_MAX)
+      # apply_angle = clip(apply_angle,
+      #                    torque_sensor_angle - self.params.ANGLE_DELTA_MAX,
+      #                    torque_sensor_angle + self.params.ANGLE_DELTA_MAX)

      # Clip max angle to acceptable lateral accel limits
      v_ego = max(CS.out.vEgo, 5.)