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SteerAlerts

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firestar5683
2025-10-03 21:09:03 -05:00
parent bc4c9d0e92
commit c97208c1dd
1 changed files with 2 additions and 2 deletions
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selfdrive/controls/controlsd.py
+2 -2
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@@ -715,8 +715,8 @@ 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:
commanded_torque_at_max = abs(lac_log.output) > 0.99
if undershooting and turning and (lac_log.saturated or commanded_torque_at_max):
if self.frogpilot_toggles.goat_scream_alert:
self.frogpilot_events.add(FrogPilotEventName.goatSteerSaturated)
else: