From 8eb82d1994ccd75cc1425f011d84f25cc7cd6792 Mon Sep 17 00:00:00 2001 From: Jafar Al-Gharaibeh Date: Tue, 12 May 2020 12:44:51 -0500 Subject: [PATCH] Set lkas enable speed to 52 kph Signed-off-by: Jafar Al-Gharaibeh --- selfdrive/car/mazda/carstate.py | 2 +- selfdrive/car/mazda/values.py | 8 ++++---- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py index 35e2e8350f..b8277ad50e 100644 --- a/selfdrive/car/mazda/carstate.py +++ b/selfdrive/car/mazda/carstate.py @@ -63,7 +63,7 @@ class CarState(CarStateBase): # On if no driver torque the last 5 seconds handsoff = cp.vl["STEER_RATE"]['HANDS_OFF_5_SECONDS'] == 1 - # LKAS is enabled at 50kph going up and disabled at 45kph going down + # LKAS is enabled at 52kph going up and disabled at 45kph going down if speed_kph > LKAS_LIMITS.ENABLE_SPEED: self.lkas_on = True diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index 5ff98a37e1..d5c4970345 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -11,16 +11,16 @@ class SteerLimitParams: STEER_DELTA_UP = 10 # torque increase per refresh STEER_DELTA_DOWN = 20 # torque decrease per refresh STEER_DRIVER_ALLOWANCE = 15 # allowed driver torque before start limiting - STEER_DRIVER_MULTIPLIER = 1 # weight driver torque heavily + STEER_DRIVER_MULTIPLIER = 1 # weight driver torque STEER_DRIVER_FACTOR = 1 # from dbc class CAR: CX5 = "Mazda CX-5 2017" class LKAS_LIMITS: - STEER_THRESHOLD = 20 - DISABLE_SPEED = 45 - ENABLE_SPEED = 50 + STEER_THRESHOLD = 15 + DISABLE_SPEED = 45 #kph + ENABLE_SPEED = 52 #kph FINGERPRINTS = { CAR.CX5: [