From c236f472a9ac2fec1106c99bad1953a990b03e01 Mon Sep 17 00:00:00 2001 From: DevTekVE Date: Wed, 6 Aug 2025 20:53:57 +0200 Subject: [PATCH] update ISO_LATERAL_ACCEL import + VM changes (#35865) * refactor: move lateral methods from init to lateral.py (#2594) * Extracting lateral methods to lateral.py * cleaning * more cleaning * more cleaning * Making sure it remains where it should * Leave rate_limit where it belongs * Moving things to `car/controls/` * Moving rate limit to get a taste of the changes * clean * copy verbatim * clean up * more * now we can format --------- Co-authored-by: Shane Smiskol * Merge branch 'master' into move-common-vm-methods. dunno what happend with ci * now we need to move this import * bump opendbc --------- Co-authored-by: Shane Smiskol Co-authored-by: Adeeb Shihadeh --- opendbc_repo | 2 +- selfdrive/selfdrived/helpers.py | 3 ++- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 22b8df68fb..adb6001649 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 22b8df68fb6d8aa197fb9b432a428da6dd96c98c +Subproject commit adb6001649c0cc022873739187652b0014483dd3 diff --git a/selfdrive/selfdrived/helpers.py b/selfdrive/selfdrived/helpers.py index 8b4213fcb8..f7468cbe43 100644 --- a/selfdrive/selfdrived/helpers.py +++ b/selfdrive/selfdrived/helpers.py @@ -5,7 +5,8 @@ from cereal import car, messaging from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.locationd.helpers import Pose from opendbc.car import ACCELERATION_DUE_TO_GRAVITY -from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX, ISO_LATERAL_ACCEL +from opendbc.car.lateral import ISO_LATERAL_ACCEL +from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX MIN_EXCESSIVE_ACTUATION_COUNT = int(0.25 / DT_CTRL) MIN_LATERAL_ENGAGE_BUFFER = int(1 / DT_CTRL)