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Nissan: use raw speed to calculate angle limits (#28097)

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use vEgoRaw for calculating limited angle
old-commit-hash: cd570033d3ecf52958d26f0fb316dba5a1eb2684
This commit is contained in:
Shane Smiskol
2023-05-04 00:29:03 +00:00
committed by GitHub
parent 851d21cdff
commit ebb698b430
1 changed files with 1 additions and 1 deletions
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selfdrive/car/nissan/carcontroller.py
+1 -1
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@@ -30,7 +30,7 @@ class CarController:
if CC.latActive:
# windup slower
apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo, CarControllerParams)
apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgoRaw, CarControllerParams)
# Max torque from driver before EPS will give up and not apply torque
if not bool(CS.out.steeringPressed):