Join GitHub today
GitHub is home to over 36 million developers working together to host and review code, manage projects, and build software together.Sign up
Force steering cut through apply_toyota_steer_torque_limits #658
If there is a violation do not reduce steering down to 0 in one frame.
This causes a steering error to occur.
If the STEER_ERROR_MAX occurs the steering should slowly reduce before the panda registers a violation and also immediately reduces steering torque to 0.
I suggest increasing the panda STEER_ERROR_MAX to 375. This PR will be done in the Panda Repo
I understand you. Then you should correct the panda code violation to return steering torque and not a Boolean that cuts the steering torque immediately to 0 causing steering faults. This is easy to reproduce. Have steering wheel at about 450°. Engage openpilot and steer into the endstop. This causes the torque mismatch violation and the steering torque if reduced from 1500 to 0 in one frame will cause the steering to be unavailable.
@arne182 how did your tests go? Did you find any permanent faults that would not occur after making this change?
To summarize for other users reading this thread: