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Less sensitive torque saturated warning (#23003)

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* Less sensetive torque saturated warning

* better comment
old-commit-hash: 8f3bc4872f
This commit is contained in:
HaraldSchafer
2021-12-01 13:53:42 -08:00
committed by GitHub
parent 1222957224
commit 9c03362ba8
1 changed files with 3 additions and 2 deletions
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selfdrive/controls/controlsd.py
+3 -2
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@@ -540,8 +540,9 @@ class Controls:
if len(lat_plan.dPathPoints):
# Check if we deviated from the path
left_deviation = actuators.steer > 0 and lat_plan.dPathPoints[0] < -0.1
right_deviation = actuators.steer < 0 and lat_plan.dPathPoints[0] > 0.1
# TODO use desired vs actual curvature
left_deviation = actuators.steer > 0 and lat_plan.dPathPoints[0] < -0.20
right_deviation = actuators.steer < 0 and lat_plan.dPathPoints[0] > 0.20
if left_deviation or right_deviation:
self.events.add(EventName.steerSaturated)