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Angle control: fix limiting bug (#27428)

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* fix steer up bug

* Update ref_commit
pull/27412/head^2
Shane Smiskol 2 years ago committed by GitHub
parent 7a3b3e8b56
commit d5688ae49f
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2 changed files with 2 additions and 2 deletions
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  1. 2
      selfdrive/car/__init__.py
  2. 2
      selfdrive/test/process_replay/ref_commit

2
selfdrive/car/__init__.py
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@ -115,7 +115,7 @@ def apply_toyota_steer_torque_limits(apply_torque, apply_torque_last, motor_torq
def apply_std_steer_angle_limits(apply_angle, apply_angle_last, v_ego, LIMITS): def apply_std_steer_angle_limits(apply_angle, apply_angle_last, v_ego, LIMITS):
# pick angle rate limits based on wind up/down # pick angle rate limits based on wind up/down
steer_up = apply_angle_last * apply_angle > 0. and abs(apply_angle) > abs(apply_angle_last) steer_up = apply_angle_last * apply_angle >= 0. and abs(apply_angle) > abs(apply_angle_last)
rate_limits = LIMITS.ANGLE_RATE_LIMIT_UP if steer_up else LIMITS.ANGLE_RATE_LIMIT_DOWN rate_limits = LIMITS.ANGLE_RATE_LIMIT_UP if steer_up else LIMITS.ANGLE_RATE_LIMIT_DOWN
angle_rate_lim = interp(v_ego, rate_limits.speed_bp, rate_limits.angle_v) angle_rate_lim = interp(v_ego, rate_limits.speed_bp, rate_limits.angle_v)

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
a38b267bd2d44945dcd664b2a84e6cd0a6163f91 772f30de36fc7f8421dabb779cc02f45eb83d7bb

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