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Fix new steer saturated warning with joystick mode (#25113)

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Fix steer sat warning with joystick mode
old-commit-hash: be7f7041681ab088f03c075a8a836e538378a7a8
This commit is contained in:
Shane Smiskol
2022-07-11 12:52:03 -07:00
committed by GitHub
parent 8ca0e9b941
commit 493d6ef693
1 changed files with 2 additions and 2 deletions
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selfdrive/controls/controlsd.py
+2 -2
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@@ -602,14 +602,14 @@ class Controls:
lac_log.saturated = abs(actuators.steer) >= 0.9
# Send a "steering required alert" if saturation count has reached the limit
if lac_log.active and not CS.steeringPressed and self.CP.lateralTuning.which() == 'torque':
if lac_log.active and not CS.steeringPressed and self.CP.lateralTuning.which() == 'torque' and not self.joystick_mode:
undershooting = abs(lac_log.desiredLateralAccel) / abs(1e-3 + lac_log.actualLateralAccel) > 1.2
turning = abs(lac_log.desiredLateralAccel) > 1.0
good_speed = CS.vEgo > 5
max_torque = abs(self.last_actuators.steer) > 0.99
if undershooting and turning and good_speed and max_torque:
self.events.add(EventName.steerSaturated)
elif lac_log.active and lac_log.saturated and not CS.steeringPressed:
elif lac_log.active and not CS.steeringPressed and lac_log.saturated:
dpath_points = lat_plan.dPathPoints
if len(dpath_points):
# Check if we deviated from the path