From b4523da2c8fac0667da108e14bc41e568314e61e Mon Sep 17 00:00:00 2001 From: Andre Volmensky Date: Fri, 13 Mar 2020 06:45:24 +0900 Subject: [PATCH] Nissan lane change (#1236) * Scaled LKAS_MAX_TORQUE based on dbc change * Bump opendbc old-commit-hash: 6b3ff455e2639c06aa333e42e81c7f82ac34ed33 --- opendbc | 2 +- selfdrive/car/nissan/carcontroller.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc b/opendbc index bd72c72be3..ce723756f7 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit bd72c72be31dfbacbb25b815f4b7281705fdfc39 +Subproject commit ce723756f75d7efb74a9664a1761079641923683 diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py index 6b1395228d..576831c613 100644 --- a/selfdrive/car/nissan/carcontroller.py +++ b/selfdrive/car/nissan/carcontroller.py @@ -9,7 +9,7 @@ ANGLE_MAX_V = [540., 120., 23.] ANGLE_DELTA_BP = [0., 5., 15.] ANGLE_DELTA_V = [5., .8, .15] # windup limit ANGLE_DELTA_VU = [5., 3.5, 0.4] # unwind limit -LKAS_MAX_TORQUE = 100 # A value of 100 is easy to overpower +LKAS_MAX_TORQUE = 1 # A value of 1 is easy to overpower VisualAlert = car.CarControl.HUDControl.VisualAlert