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fix low speed steering

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MoreTorque
2026-02-28 13:36:21 -06:00
committed by GitHub
parent 0887cde2cc
commit bace68d131
1 changed files with 4 additions and 1 deletions
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opendbc_repo/opendbc/car/mazda/interface.py
+4 -1
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@@ -77,7 +77,7 @@ class CarInterface(CarInterfaceBase):
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
if candidate not in (CAR.MAZDA_CX5_2022, CAR.MAZDA_3_2019, CAR.MAZDA_CX_30, CAR.MAZDA_CX_50, CAR.MAZDA_3_2023, CAR.MAZDA_CX_30_2023) and not ret.flags & MazdaSafetyFlags.TORQUE_INTERCEPTOR:
if candidate not in (CAR.MAZDA_CX5_2022, CAR.MAZDA_3_2019, CAR.MAZDA_CX_30, CAR.MAZDA_CX_50, CAR.MAZDA_3_2023, CAR.MAZDA_CX_30_2023):
ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS
ret.centerToFront = ret.wheelbase * 0.41
@@ -93,6 +93,8 @@ class CarInterface(CarInterfaceBase):
if p.get_bool("TorqueInterceptorEnabled"): # Torque Interceptor Installed
ret.flags |= MazdaSafetyFlags.TORQUE_INTERCEPTOR.value
ret.safetyConfigs[0].safetyParam |= MazdaSafetyFlags.TORQUE_INTERCEPTOR.value
ret.minSteerSpeed = 0.0
ret.steerAtStandstill = True
if p.get_bool("RadarInterceptorEnabled"): # Radar Interceptor Installed
ret.flags |= MazdaSafetyFlags.RADAR_INTERCEPTOR.value
ret.safetyConfigs[0].safetyParam |= MazdaSafetyFlags.RADAR_INTERCEPTOR.value
@@ -127,6 +129,7 @@ class CarInterface(CarInterfaceBase):
ret.longitudinalTuning.kiV = [0.1, 0.1]
ret.startingState = True
ret.steerActuatorDelay = 0.335
ret.steerAtStandstill = True
if candidate in GEN3:
ret.safetyConfigs[0].safetyParam |= MazdaSafetyFlags.GEN3.value