From 8badc7d8133497f8b89e57e1e3afae454bb4f32f Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Sat, 28 Mar 2026 21:20:35 -0700 Subject: [PATCH] controls: HKG angle control saturation from car port safety (#37746) --- selfdrive/controls/lib/latcontrol_angle.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py index 808c9a659..a7d040324 100644 --- a/selfdrive/controls/lib/latcontrol_angle.py +++ b/selfdrive/controls/lib/latcontrol_angle.py @@ -11,7 +11,7 @@ class LatControlAngle(LatControl): def __init__(self, CP, CI, dt): super().__init__(CP, CI, dt) self.sat_check_min_speed = 5. - self.use_steer_limited_by_safety = CP.brand == "tesla" + self.use_steer_limited_by_safety = CP.brand in ("tesla", "hyundai") def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay): angle_log = log.ControlsState.LateralAngleState.new_message()