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Revert "Update latcontrol_torque.py"

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This reverts commit 13c3070fa1.
This commit is contained in:
firestar5683
2025-10-03 22:05:10 -05:00
parent 5b823fee98
commit 23bc2b80d8
1 changed files with 2 additions and 6 deletions
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selfdrive/controls/lib/latcontrol.py
+2 -6
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@@ -24,12 +24,8 @@ class LatControl(ABC):
self.sat_count = 0.
def _check_saturation(self, saturated, CS, steer_limited_by_safety, curvature_limited):
# Treat either controller saturation, curvature limiting, or the safety layer
# clamping the request as a saturation event. The additional safety check
# catches cases where the torque request is being clipped
saturated = saturated or curvature_limited or steer_limited_by_safety
if saturated and CS.vEgo > self.sat_check_min_speed and not CS.steeringPressed:
# Saturated only if control output is not being limited by car torque/angle rate limits
if (saturated or curvature_limited) and CS.vEgo > self.sat_check_min_speed and not steer_limited_by_safety and not CS.steeringPressed:
self.sat_count += self.sat_count_rate
else:
self.sat_count -= self.sat_count_rate