From 8f3bc4872f19b84203608b2561924cd85e0d1788 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Wed, 1 Dec 2021 13:53:42 -0800 Subject: [PATCH] Less sensitive torque saturated warning (#23003) * Less sensetive torque saturated warning * better comment --- selfdrive/controls/controlsd.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index bbd84d458f..d029650aaf 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -540,8 +540,9 @@ class Controls: if len(lat_plan.dPathPoints): # Check if we deviated from the path - left_deviation = actuators.steer > 0 and lat_plan.dPathPoints[0] < -0.1 - right_deviation = actuators.steer < 0 and lat_plan.dPathPoints[0] > 0.1 + # TODO use desired vs actual curvature + left_deviation = actuators.steer > 0 and lat_plan.dPathPoints[0] < -0.20 + right_deviation = actuators.steer < 0 and lat_plan.dPathPoints[0] > 0.20 if left_deviation or right_deviation: self.events.add(EventName.steerSaturated)