Latcontrol: use more accurate naming for saturation time (#36286)

selfdrive/controls/lib/latcontrol.py

@@ -5,9 +5,8 @@ from abc import abstractmethod, ABC
 class LatControl(ABC):
   def __init__(self, CP, CI, dt):
     self.dt = dt
-    self.sat_count_rate = 1.0 * self.dt
     self.sat_limit = CP.steerLimitTimer
-    self.sat_count = 0.
+    self.sat_time = 0.
     self.sat_check_min_speed = 10.
 
     # we define the steer torque scale as [-1.0...1.0]
@@ -18,13 +17,13 @@ class LatControl(ABC):
     pass
 
   def reset(self):
-    self.sat_count = 0.
+    self.sat_time = 0.
 
   def _check_saturation(self, saturated, CS, steer_limited_by_safety, curvature_limited):
     # Saturated only if control output is not being limited by car torque/angle rate limits
     if (saturated or curvature_limited) and CS.vEgo > self.sat_check_min_speed and not steer_limited_by_safety and not CS.steeringPressed:
-      self.sat_count += self.sat_count_rate
+      self.sat_time += self.dt
     else:
-      self.sat_count -= self.sat_count_rate
+      self.sat_time -= self.dt
-    self.sat_count = np.clip(self.sat_count, 0.0, self.sat_limit)
+    self.sat_time = np.clip(self.sat_time, 0.0, self.sat_limit)
-    return self.sat_count > (self.sat_limit - 1e-3)
+    return self.sat_time > (self.sat_limit - 1e-3)