clip steer saturation counter to steerLimitTimer (#23638)

* clip steer saturation counter to steerLimitTimer

* update ref

selfdrive/car/interfaces.py

@@ -98,6 +98,7 @@ class CarInterfaceBase(ABC):
     ret.longitudinalTuning.kiV = [1.]
     ret.longitudinalActuatorDelayLowerBound = 0.15
     ret.longitudinalActuatorDelayUpperBound = 0.15
+    ret.steerLimitTimer = 1.0
     return ret
 
   @abstractmethod

selfdrive/controls/lib/latcontrol.py

@@ -24,5 +24,5 @@ class LatControl(ABC):
       self.sat_count += self.sat_count_rate
     else:
       self.sat_count -= self.sat_count_rate
-    self.sat_count = clip(self.sat_count, 0.0, 1.0)
-    return self.sat_count > self.sat_limit
+    self.sat_count = clip(self.sat_count, 0.0, self.sat_limit)
+    return self.sat_count > (self.sat_limit - 1e-3)

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-14133069e1f226b9c981d09653fb74f5020f725e
+498e43b0cc062291ec159d7f09b69d9f7024aeca