Honda: remove redundant steer fault check (#23920)
parent
da50930450
commit
6ff643c478
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@ -152,7 +152,7 @@ class CarController():
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# steer torque is converted back to CAN reference (positive when steering right)
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# steer torque is converted back to CAN reference (positive when steering right)
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apply_steer = int(interp(-actuators.steer * P.STEER_MAX, P.STEER_LOOKUP_BP, P.STEER_LOOKUP_V))
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apply_steer = int(interp(-actuators.steer * P.STEER_MAX, P.STEER_LOOKUP_BP, P.STEER_LOOKUP_V))
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lkas_active = active and not CS.steer_not_allowed
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lkas_active = active
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# Send CAN commands.
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# Send CAN commands.
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can_sends = []
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can_sends = []
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@ -198,9 +198,8 @@ class CarState(CarStateBase):
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steer_status = self.steer_status_values[cp.vl["STEER_STATUS"]["STEER_STATUS"]]
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steer_status = self.steer_status_values[cp.vl["STEER_STATUS"]["STEER_STATUS"]]
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ret.steerFaultPermanent = steer_status not in ("NORMAL", "NO_TORQUE_ALERT_1", "NO_TORQUE_ALERT_2", "LOW_SPEED_LOCKOUT", "TMP_FAULT")
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ret.steerFaultPermanent = steer_status not in ("NORMAL", "NO_TORQUE_ALERT_1", "NO_TORQUE_ALERT_2", "LOW_SPEED_LOCKOUT", "TMP_FAULT")
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# NO_TORQUE_ALERT_2 can be caused by bump OR steering nudge from driver
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self.steer_not_allowed = steer_status not in ("NORMAL", "NO_TORQUE_ALERT_2")
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# LOW_SPEED_LOCKOUT is not worth a warning
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# LOW_SPEED_LOCKOUT is not worth a warning
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# NO_TORQUE_ALERT_2 can be caused by bump or steering nudge from driver
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ret.steerFaultTemporary = steer_status not in ("NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2")
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ret.steerFaultTemporary = steer_status not in ("NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2")
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if self.CP.openpilotLongitudinalControl:
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if self.CP.openpilotLongitudinalControl:
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