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Update carcontroller.py

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herizon1054
2026-05-08 00:35:39 +08:00
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parent 728d040208
commit 970d7346e9
1 changed files with 1 additions and 7 deletions
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8
opendbc_repo/opendbc/car/toyota/carcontroller.py
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@@ -180,13 +180,7 @@ class CarController(CarControllerBase):
# TORQUE_WIND_DOWN at 0 ramps down torque at roughly the max down rate of 1500 units/sec
torque_wind_down = 100 if lta_active and full_torque_condition else 0
# 🌟 豐田原廠 EPS 保護機制：強制鎖死送出的角度不超過 85 度
# 避免原地打方向盤或過大彎超過 90 度時，引發 PCS 故障報錯
MAX_SAFE_ANGLE = 85.0
safe_lta_angle = max(-MAX_SAFE_ANGLE, min(MAX_SAFE_ANGLE, self.last_angle))
can_sends.append(toyotacan.create_lta_steer_command(self.packer, self.steer_control_type, safe_lta_angle,
can_sends.append(toyotacan.create_lta_steer_command(self.packer, self.steer_control_type, self.last_angle,
lta_active, self.frame // 2, torque_wind_down))
if self.CP.flags & ToyotaFlags.SECOC.value: