LatControlAngle: lower saturation check speed (#26749)

lower speed for angle
old-commit-hash: d5ffb90a04

selfdrive/controls/lib/latcontrol.py

@@ -11,6 +11,7 @@ class LatControl(ABC):
     self.sat_count_rate = 1.0 * DT_CTRL
     self.sat_limit = CP.steerLimitTimer
     self.sat_count = 0.
+    self.sat_check_min_speed = 10.
 
     # we define the steer torque scale as [-1.0...1.0]
     self.steer_max = 1.0
@@ -23,7 +24,7 @@ class LatControl(ABC):
     self.sat_count = 0.
 
   def _check_saturation(self, saturated, CS, steer_limited):
-    if saturated and CS.vEgo > 10. and not steer_limited and not CS.steeringPressed:
+    if saturated and CS.vEgo > self.sat_check_min_speed and not steer_limited and not CS.steeringPressed:
       self.sat_count += self.sat_count_rate
     else:
       self.sat_count -= self.sat_count_rate

selfdrive/controls/lib/latcontrol_angle.py

@@ -7,6 +7,8 @@ STEER_ANGLE_SATURATION_THRESHOLD = 2.5  # Degrees
 
 
 class LatControlAngle(LatControl):
+  sat_check_min_speed = 5.
+
   def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk):
     angle_log = log.ControlsState.LateralAngleState.new_message()