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Toyota: fix high driver torque LKAS fault regression (#31448)

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one latactive
This commit is contained in:
Shane Smiskol
2024-02-13 23:49:18 -06:00
committed by GitHub
parent cff1ad9dd3
commit 136dc0313a
1 changed files with 2 additions and 2 deletions
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selfdrive/car/toyota/carcontroller.py
+2 -2
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@@ -55,10 +55,10 @@ class CarController:
apply_steer = apply_meas_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.params)
# >100 degree/sec steering fault prevention
self.steer_rate_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE, CC.latActive,
self.steer_rate_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE, lat_active,
self.steer_rate_counter, MAX_STEER_RATE_FRAMES)
if not CC.latActive:
if not lat_active:
apply_steer = 0
# *** steer angle ***