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common_fault_avoidance: take a bool (#29328)

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old-commit-hash: 2a38f38be1
This commit is contained in:
Shane Smiskol
2023-08-11 00:27:53 -07:00
committed by GitHub
parent 55f7f723a0
commit 6b7b6034b7
3 changed files with 4 additions and 4 deletions
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selfdrive/car/__init__.py
+2 -2
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@@ -132,7 +132,7 @@ def apply_std_steer_angle_limits(apply_angle, apply_angle_last, v_ego, LIMITS):
return clip(apply_angle, apply_angle_last - angle_rate_lim, apply_angle_last + angle_rate_lim)
def common_fault_avoidance(measured_value: float, max_value: float, request: bool, above_limit_frames: int,
def common_fault_avoidance(fault_condition: bool, request: bool, above_limit_frames: int,
max_above_limit_frames: int, max_mismatching_frames: int = 1):
"""
Several cars have the ability to work around their EPS limits by cutting the
@@ -140,7 +140,7 @@ def common_fault_avoidance(measured_value: float, max_value: float, request: boo
"""
# Count up to max_above_limit_frames, at which point we need to cut the request for above_limit_frames to avoid a fault
if request and abs(measured_value) >= max_value:
if request and fault_condition:
above_limit_frames += 1
else:
above_limit_frames = 0
selfdrive/car/hyundai/carcontroller.py
+1 -1
View File
@@ -65,7 +65,7 @@ class CarController:
apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
# >90 degree steering fault prevention
self.angle_limit_counter, apply_steer_req = common_fault_avoidance(CS.out.steeringAngleDeg, MAX_ANGLE, CC.latActive,
self.angle_limit_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringAngleDeg) >= MAX_ANGLE, CC.latActive,
self.angle_limit_counter, MAX_ANGLE_FRAMES,
MAX_ANGLE_CONSECUTIVE_FRAMES)
selfdrive/car/toyota/carcontroller.py
+1 -1
View File
@@ -57,7 +57,7 @@ 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(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, CC.latActive,
self.steer_rate_counter, MAX_STEER_RATE_FRAMES)
if not CC.latActive: