From ed5a01f2cdb3b04e61bf06e9e1c418940fa2899d Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sat, 28 Mar 2026 21:05:51 -0700 Subject: [PATCH] steer limit by safety for hyundai and round incoming desired angle to 1 decimal --- opendbc_repo | 2 +- selfdrive/controls/lib/latcontrol_angle.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 5a2d1aeef3..6904a8c41d 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 5a2d1aeef3c89be54d65d057dfb93ea6ce6cfd1d +Subproject commit 6904a8c41d2c64830c7c53d442e671b9c995e106 diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py index 808c9a659a..a7d0403248 100644 --- a/selfdrive/controls/lib/latcontrol_angle.py +++ b/selfdrive/controls/lib/latcontrol_angle.py @@ -11,7 +11,7 @@ class LatControlAngle(LatControl): def __init__(self, CP, CI, dt): super().__init__(CP, CI, dt) self.sat_check_min_speed = 5. - self.use_steer_limited_by_safety = CP.brand == "tesla" + self.use_steer_limited_by_safety = CP.brand in ("tesla", "hyundai") def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay): angle_log = log.ControlsState.LateralAngleState.new_message()