From c7c0f1e33c46d0ffbf3f748c108b5ebca559c00d Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 26 Jan 2023 00:37:13 -0800 Subject: [PATCH] Ford: fix curvature rate limits --- selfdrive/car/ford/values.py | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index acb625b7cc..dc0f4bbb2e 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -4,12 +4,11 @@ from enum import Enum from typing import Dict, List, Union from cereal import car -from selfdrive.car import dbc_dict +from selfdrive.car import AngleRateLimit, dbc_dict from selfdrive.car.docs_definitions import CarInfo, Harness from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu -CurvatureLimit = namedtuple('CurvatureLimit', ['speed_points', 'max_angle_diff_points']) class CarControllerParams: @@ -27,8 +26,8 @@ class CarControllerParams: # Curvature rate limits # TODO: unify field names used by curvature and angle control cars - ANGLE_RATE_LIMIT_UP = CurvatureLimit(speed_points=[5, 15, 25], max_angle_diff_points=[0.005, 0.00056, 0.0002]) - ANGLE_RATE_LIMIT_DOWN = CurvatureLimit(speed_points=[5, 15, 25], max_angle_diff_points=[0.008, 0.00089, 0.00032]) + ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.005, 0.00056, 0.0002]) + ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.008, 0.00089, 0.00032]) def __init__(self, CP): pass