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fix ti command

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This commit is contained in:
MoreTorque
2026-02-28 08:50:32 -06:00
committed by Test User
parent 80baccab41
commit 2cab9543ac
2 changed files with 8 additions and 7 deletions
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opendbc_repo/opendbc/car/mazda/carcontroller.py
+4 -3
View File
@@ -39,7 +39,7 @@ class CarController(CarControllerBase):
if self.CP.flags & MazdaSafetyFlags.TORQUE_INTERCEPTOR:
if CS.ti_lkas_allowed:
ti_new_torque = int(round(CC.actuators.steer * self.ccp.STEER_MAX))
ti_apply_torque = apply_driver_steer_torque_limits(ti_new_torque, self.ti_apply_steer_last,
ti_apply_torque = apply_driver_steer_torque_limits(ti_new_torque, self.apply_torque_last,
CS.out.steeringTorque, self.ccp)
self.apply_torque_last = apply_torque
@@ -117,8 +117,9 @@ class CarController(CarControllerBase):
# send steering command
can_sends.extend(mazdacan.create_steering_control(self.packer, self.CP,
self.frame, apply_torque, CS.cam_lkas))
can_sends.extend(mazdacan.create_steering_control(
self.packer, self.CP, self.frame, apply_torque, CS.cam_lkas,
ti_apply_torque if CP.flags & MazdaSafetyFlags.TORQUE_INTERCEPTOR else None))
new_actuators = CC.actuators.as_builder()
new_actuators.torque = apply_torque / self.ccp.STEER_MAX
opendbc_repo/opendbc/car/mazda/mazdacan.py
+4 -4
View File
@@ -1,7 +1,7 @@
from opendbc.car.mazda.values import Buttons, MazdaSafetyFlags
from numpy import clip
def create_steering_control(packer, CP, frame, apply_torque, lkas):
def create_steering_control(packer, CP, frame, apply_torque, lkas, ti_apply_torque = None):
msgs = []
if CP.flags & MazdaSafetyFlags.GEN1:
if not CP.flags & MazdaSafetyFlags.NO_FSC:
@@ -60,10 +60,10 @@ def create_steering_control(packer, CP, frame, apply_torque, lkas):
}
msgs.append(packer.make_can_msg("CAM_LKAS", 0, values))
if CP.flags & MazdaSafetyFlags.TORQUE_INTERCEPTOR:
if ti_apply_torque is not None:
values = {
"LKAS_REQUEST" : apply_torque,
"CHKSUM" : apply_torque,
"LKAS_REQUEST" : ti_apply_torque,
"CHKSUM" : ti_apply_torque,
"KEY" : 3294744160
}
msgs.append(packer.make_can_msg("CAM_LKAS2", 1, values))