common_fault_avoidance: take a bool (#29328)

old-commit-hash: 2a38f38be1

selfdrive/car/__init__.py

@@ -132,7 +132,7 @@ def apply_std_steer_angle_limits(apply_angle, apply_angle_last, v_ego, LIMITS):
   return clip(apply_angle, apply_angle_last - angle_rate_lim, apply_angle_last + angle_rate_lim)
 
 
-def common_fault_avoidance(measured_value: float, max_value: float, request: bool, above_limit_frames: int,
+def common_fault_avoidance(fault_condition: bool, request: bool, above_limit_frames: int,
                            max_above_limit_frames: int, max_mismatching_frames: int = 1):
   """
   Several cars have the ability to work around their EPS limits by cutting the
@@ -140,7 +140,7 @@ def common_fault_avoidance(measured_value: float, max_value: float, request: boo
   """
 
   # Count up to max_above_limit_frames, at which point we need to cut the request for above_limit_frames to avoid a fault
-  if request and abs(measured_value) >= max_value:
+  if request and fault_condition:
     above_limit_frames += 1
   else:
     above_limit_frames = 0

selfdrive/car/hyundai/carcontroller.py

@@ -65,7 +65,7 @@ class CarController:
     apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
 
     # >90 degree steering fault prevention
-    self.angle_limit_counter, apply_steer_req = common_fault_avoidance(CS.out.steeringAngleDeg, MAX_ANGLE, CC.latActive,
+    self.angle_limit_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringAngleDeg) >= MAX_ANGLE, CC.latActive,
                                                                        self.angle_limit_counter, MAX_ANGLE_FRAMES,
                                                                        MAX_ANGLE_CONSECUTIVE_FRAMES)
 

selfdrive/car/toyota/carcontroller.py

@@ -57,7 +57,7 @@ class CarController:
     apply_steer = apply_meas_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.params)
 
     # >100 degree/sec steering fault prevention
-    self.steer_rate_counter, apply_steer_req = common_fault_avoidance(CS.out.steeringRateDeg, MAX_STEER_RATE, CC.latActive,
+    self.steer_rate_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE, CC.latActive,
                                                                       self.steer_rate_counter, MAX_STEER_RATE_FRAMES)
 
     if not CC.latActive: