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Nissan lane change (#1236)

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* Scaled LKAS_MAX_TORQUE based on dbc change

* Bump opendbc
old-commit-hash: 6b3ff455e2
commatwo_master
Andre Volmensky 6 years ago committed by GitHub
parent ea1c97cab7
commit b4523da2c8
2 changed files with 2 additions and 2 deletions
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  1. 2
      opendbc
  2. 2
      selfdrive/car/nissan/carcontroller.py

2
opendbc

@ -1 +1 @@
Subproject commit bd72c72be31dfbacbb25b815f4b7281705fdfc39 Subproject commit ce723756f75d7efb74a9664a1761079641923683

2
selfdrive/car/nissan/carcontroller.py
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@ -9,7 +9,7 @@ ANGLE_MAX_V = [540., 120., 23.]
ANGLE_DELTA_BP = [0., 5., 15.] ANGLE_DELTA_BP = [0., 5., 15.]
ANGLE_DELTA_V = [5., .8, .15] # windup limit ANGLE_DELTA_V = [5., .8, .15] # windup limit
ANGLE_DELTA_VU = [5., 3.5, 0.4] # unwind 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 VisualAlert = car.CarControl.HUDControl.VisualAlert

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