From cd570033d3ecf52958d26f0fb316dba5a1eb2684 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 4 May 2023 00:29:03 +0000 Subject: [PATCH] Nissan: use raw speed to calculate angle limits (#28097) use vEgoRaw for calculating limited angle --- selfdrive/car/nissan/carcontroller.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py index 8847551a82..73493a9746 100644 --- a/selfdrive/car/nissan/carcontroller.py +++ b/selfdrive/car/nissan/carcontroller.py @@ -30,7 +30,7 @@ class CarController: if CC.latActive: # windup slower - apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo, CarControllerParams) + apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgoRaw, CarControllerParams) # Max torque from driver before EPS will give up and not apply torque if not bool(CS.out.steeringPressed):