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FrogPilot community - Ford steering hack

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Co-Authored-By: Jacob Pfeifer <jacob@pfeifer.dev>
This commit is contained in:
FrogAi 2024-05-29 03:59:07 -07:00
parent c736387125
commit 3662bd5510
1 changed files with 7 additions and 0 deletions
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7
selfdrive/car/ford/carcontroller.py
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@ -65,6 +65,13 @@ class CarController(CarControllerBase):
if CC.latActive: if CC.latActive:
# apply rate limits, curvature error limit, and clip to signal range # apply rate limits, curvature error limit, and clip to signal range
current_curvature = -CS.out.yawRate / max(CS.out.vEgoRaw, 0.1) current_curvature = -CS.out.yawRate / max(CS.out.vEgoRaw, 0.1)
# PFEIFER - FSH {{
# Ignore limits while overriding, this prevents pull when releasing the wheel. This will cause messages to be
# blocked by panda safety, usually while the driver is overriding and limited to at most 1 message while the
# driver is not overriding.
if CS.out.steeringPressed:
self.apply_curvature_last = actuators.curvature
# }} PFEIFER - FSH
apply_curvature = apply_ford_curvature_limits(actuators.curvature, self.apply_curvature_last, current_curvature, CS.out.vEgoRaw) apply_curvature = apply_ford_curvature_limits(actuators.curvature, self.apply_curvature_last, current_curvature, CS.out.vEgoRaw)
else: else:
apply_curvature = 0. apply_curvature = 0.