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Honda: remove redundant steer fault check (#23920)

android9
Adeeb Shihadeh 2022-03-07 10:37:23 -08:00 committed by GitHub
parent da50930450
commit 6ff643c478
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 2 additions and 3 deletions
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2
selfdrive/car/honda/carcontroller.py
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@ -152,7 +152,7 @@ class CarController():
# steer torque is converted back to CAN reference (positive when steering right)
apply_steer = int(interp(-actuators.steer * P.STEER_MAX, P.STEER_LOOKUP_BP, P.STEER_LOOKUP_V))
lkas_active = active and not CS.steer_not_allowed
lkas_active = active
# Send CAN commands.
can_sends = []

3
selfdrive/car/honda/carstate.py
View File

@ -198,9 +198,8 @@ class CarState(CarStateBase):
steer_status = self.steer_status_values[cp.vl["STEER_STATUS"]["STEER_STATUS"]]
ret.steerFaultPermanent = steer_status not in ("NORMAL", "NO_TORQUE_ALERT_1", "NO_TORQUE_ALERT_2", "LOW_SPEED_LOCKOUT", "TMP_FAULT")
# NO_TORQUE_ALERT_2 can be caused by bump OR steering nudge from driver
self.steer_not_allowed = steer_status not in ("NORMAL", "NO_TORQUE_ALERT_2")
# LOW_SPEED_LOCKOUT is not worth a warning
# NO_TORQUE_ALERT_2 can be caused by bump or steering nudge from driver
ret.steerFaultTemporary = steer_status not in ("NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2")
if self.CP.openpilotLongitudinalControl: