Nissan: use raw speed to calculate angle limits (#28097)

use vEgoRaw for calculating limited angle
2 years ago · cd570033d3
parent d458f20770
commit cd570033d3
1 changed files with 1 additions and 1 deletions
--- 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):