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controls: don't wind up while EPS is faulted or below min steer speed (#22739) 

* controlsd: don't wind up while EPS is faulted

* also check if above min steer speed

* car params
pull/22743/head
Adeeb Shihadeh 2021-10-29 14:13:41 -07:00 committed by GitHub
parent 3312bf6d15
commit 385f3c5387
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1 changed files with 2 additions and 1 deletions
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3
selfdrive/controls/controlsd.py
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@ -490,11 +490,12 @@ class Controls:
actuators.accel = self.LoC.update(self.active, CS, self.CP, long_plan, pid_accel_limits)
# Steering PID loop and lateral MPC
lat_active = self.active and not CS.steerWarning and not CS.steerError and CS.vEgo > self.CP.minSteerSpeed
desired_curvature, desired_curvature_rate = get_lag_adjusted_curvature(self.CP, CS.vEgo,
lat_plan.psis,
lat_plan.curvatures,
lat_plan.curvatureRates)
actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(self.active, CS, self.CP, self.VM, params,
actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(lat_active, CS, self.CP, self.VM, params,
desired_curvature, desired_curvature_rate)
else:
lac_log = log.ControlsState.LateralDebugState.new_message()