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Ford: fix curvature rate limits

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This commit is contained in:
Shane Smiskol
2023-01-26 00:37:13 -08:00
parent 71c21eff72
commit c7c0f1e33c
1 changed files with 3 additions and 4 deletions
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selfdrive/car/ford/values.py
+3 -4
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@@ -4,12 +4,11 @@ from enum import Enum
from typing import Dict, List, Union
from cereal import car
from selfdrive.car import dbc_dict
from selfdrive.car import AngleRateLimit, dbc_dict
from selfdrive.car.docs_definitions import CarInfo, Harness
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
Ecu = car.CarParams.Ecu
CurvatureLimit = namedtuple('CurvatureLimit', ['speed_points', 'max_angle_diff_points'])
class CarControllerParams:
@@ -27,8 +26,8 @@ class CarControllerParams:
# Curvature rate limits
# TODO: unify field names used by curvature and angle control cars
ANGLE_RATE_LIMIT_UP = CurvatureLimit(speed_points=[5, 15, 25], max_angle_diff_points=[0.005, 0.00056, 0.0002])
ANGLE_RATE_LIMIT_DOWN = CurvatureLimit(speed_points=[5, 15, 25], max_angle_diff_points=[0.008, 0.00089, 0.00032])
ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.005, 0.00056, 0.0002])
ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.008, 0.00089, 0.00032])
def __init__(self, CP):
pass