From 40534798f16400efd120581e42a31fe12a6c33e4 Mon Sep 17 00:00:00 2001 From: sshane Date: Sun, 11 Dec 2022 21:01:02 -0800 Subject: [PATCH] still not good --- selfdrive/car/toyota/carcontroller.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index ebbf8e6d52..a1aa02d51e 100644 --- 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.)