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saturated warning: remove redundant speed check

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This commit is contained in:
Shane Smiskol
2025-03-03 19:11:53 -08:00
parent 338b7c915f
commit 9c9a060365
1 changed files with 2 additions and 2 deletions
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selfdrive/selfdrived/selfdrived.py
+2 -2
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@@ -331,8 +331,8 @@ class SelfdriveD:
desired_lateral_accel = controlstate.desiredCurvature * (clipped_speed**2)
undershooting = abs(desired_lateral_accel) / abs(1e-3 + actual_lateral_accel) > 1.2
turning = abs(desired_lateral_accel) > 1.0
good_speed = CS.vEgo > 5
if undershooting and turning and good_speed and lac.saturated:
# TODO: lac.saturated includes speed and other checks, should be pulled out
if undershooting and turning and lac.saturated:
self.events.add(EventName.steerSaturated)
# Check for FCW