Nissan: fix driver override fault by winding down torque more (#3407)

* see if fix

* add ego accel

* add ego accel

* add stock dm

* revert

* clean up

* simple

* param it

opendbc/car/nissan/carcontroller.py

@@ -37,12 +37,11 @@ class CarController(CarControllerBase):
       if not bool(CS.out.steeringPressed):
         lkas_max_torque = CarControllerParams.LKAS_MAX_TORQUE
       else:
-        # Scale max torque based on how much torque the driver is applying to the wheel
+        # Scale max torque based on how much torque the driver is applying to the wheel.
+        # Start scaling torque at STEER_THRESHOLD down to 0.2. If we don't scale this low, EPS will temp fault from high driver and LKAS torque
         lkas_max_torque = max(
-          # Scale max torque down to half LKAX_MAX_TORQUE as a minimum
-          CarControllerParams.LKAS_MAX_TORQUE * 0.5,
-          # Start scaling torque at STEER_THRESHOLD
-          CarControllerParams.LKAS_MAX_TORQUE - 0.6 * max(0, abs(CS.out.steeringTorque) - CarControllerParams.STEER_THRESHOLD)
+          CarControllerParams.LKAS_MIN_TORQUE,
+          CarControllerParams.LKAS_MAX_TORQUE - 0.6 * max(0, abs(CS.out.steeringTorque) - CarControllerParams.STEER_THRESHOLD),
         )
 
     if self.CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL, CAR.NISSAN_ALTIMA) and pcm_cancel_cmd:

opendbc/car/nissan/values.py

@@ -19,6 +19,7 @@ class CarControllerParams:
     ([0., 5., 15.], [5., 3.5, 0.4]),
   )
 
+  LKAS_MIN_TORQUE = 0.2             # Adequate torque when overriding without faulting
   LKAS_MAX_TORQUE = 1               # A value of 1 is easy to overpower
   STEER_THRESHOLD = 1.0