Bugfix: Reset saturated_count if angle no longer saturated (#1522)

2020-05-16 17:14:10 +09:00 · 2020-05-16 17:14:10 +09:00 · 135385c5fb
parent 7abcf71f92
commit 135385c5fb
1 changed files with 2 additions and 0 deletions
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@ -364,6 +364,8 @@ class Controls:

    if angle_control_saturated and not CS.steeringPressed and self.active:
      self.saturated_count += 1
+    else:
+      self.saturated_count = 0

    # Send a "steering required alert" if saturation count has reached the limit
    if (lac_log.saturated and not CS.steeringPressed) or \