Ford: curvature rate limit safety (#28059)

* bump panda * add carcontroller * add carcontroller * cmt * bumppanda * ubmp
2 years ago · d888400402
parent beb7f585ae
commit d888400402
2 changed files with 4 additions and 4 deletions
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit b44df8151a15fa3afe8a8943e332eb63605a2245
+Subproject commit 94cd9a0788070e4e802e8a6a1c1cc7dae95e8f70
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@ -10,14 +10,14 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert


 def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_curvature, v_ego_raw):
-  # Note that we do curvature error limiting after the rate limits since they are just for tuning reasons
-  apply_curvature = apply_std_steer_angle_limits(apply_curvature, apply_curvature_last, v_ego_raw, CarControllerParams)
-
  # No blending at low speed due to lack of torque wind-up and inaccurate current curvature
  if v_ego_raw > 9:
    apply_curvature = clip(apply_curvature, current_curvature - CarControllerParams.CURVATURE_ERROR,
                           current_curvature + CarControllerParams.CURVATURE_ERROR)

+  # Curvature rate limit after driver torque limit
+  apply_curvature = apply_std_steer_angle_limits(apply_curvature, apply_curvature_last, v_ego_raw, CarControllerParams)
+
  return clip(apply_curvature, -CarControllerParams.CURVATURE_MAX, CarControllerParams.CURVATURE_MAX)