saturated warning: remove redundant speed check

2 months ago · 9c9a060365
parent 338b7c915f
commit 9c9a060365
1 changed files with 2 additions and 2 deletions
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@ -331,8 +331,8 @@ class SelfdriveD:
      desired_lateral_accel = controlstate.desiredCurvature * (clipped_speed**2)
      undershooting = abs(desired_lateral_accel) / abs(1e-3 + actual_lateral_accel) > 1.2
      turning = abs(desired_lateral_accel) > 1.0
-      good_speed = CS.vEgo > 5
-      if undershooting and turning and good_speed and lac.saturated:
+      # TODO: lac.saturated includes speed and other checks, should be pulled out
+      if undershooting and turning and lac.saturated:
        self.events.add(EventName.steerSaturated)

    # Check for FCW