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SteerAlerts

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firestar5683
2025-10-03 21:09:03 -05:00
parent cab3268601
commit c7464f41da
1 changed files with 3 additions and 2 deletions
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selfdrive/controls/controlsd.py
+3 -2
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@@ -715,8 +715,9 @@ class Controls:
desired_lateral_accel = model_v2.action.desiredCurvature * (clipped_speed**2)
undershooting = abs(desired_lateral_accel) / abs(1e-3 + actual_lateral_accel) > 1.2
turning = abs(desired_lateral_accel) > 1.0
# TODO: lac.saturated includes speed and other checks, should be pulled out
if undershooting and turning and lac_log.saturated:
good_speed = CS.vEgo > 5
commanded_torque_at_max = abs(lac_log.output) > 0.99
if undershooting and turning and good_speed and commanded_torque_at_max:
if self.frogpilot_toggles.goat_scream_alert:
self.frogpilot_events.add(FrogPilotEventName.goatSteerSaturated)
else: