From 0d61d8a4b61287289632ec143f328efdf0c900b0 Mon Sep 17 00:00:00 2001
From: qadmus <42746943+qadmus@users.noreply.github.com>
Date: Mon, 22 Mar 2021 05:01:33 -0700
Subject: [PATCH] int(round()) on apply_steer for correct comparison after rate
 limiting (#20425)

---
 selfdrive/car/chrysler/carcontroller.py | 2 +-
 selfdrive/car/gm/carcontroller.py       | 2 +-
 selfdrive/car/hyundai/carcontroller.py  | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
index 83c6fcf3c..46681b13e 100644
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -24,7 +24,7 @@ class CarController():
 
     # *** compute control surfaces ***
     # steer torque
-    new_steer = actuators.steer * CarControllerParams.STEER_MAX
+    new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX))
     apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last,
                                                    CS.out.steeringTorqueEps, CarControllerParams)
     self.steer_rate_limited = new_steer != apply_steer
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index dcd300c70..116a562ac 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -35,7 +35,7 @@ class CarController():
     if (frame % P.STEER_STEP) == 0:
       lkas_enabled = enabled and not CS.out.steerWarning and CS.out.vEgo > P.MIN_STEER_SPEED
       if lkas_enabled:
-        new_steer = actuators.steer * P.STEER_MAX
+        new_steer = int(round(actuators.steer * P.STEER_MAX))
         apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, P)
         self.steer_rate_limited = new_steer != apply_steer
       else:
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index d5e58ab68..cf4756e8f 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -45,7 +45,7 @@ class CarController():
   def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert,
              left_lane, right_lane, left_lane_depart, right_lane_depart):
     # Steering Torque
-    new_steer = actuators.steer * self.p.STEER_MAX
+    new_steer = int(round(actuators.steer * self.p.STEER_MAX))
     apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p)
     self.steer_rate_limited = new_steer != apply_steer