From 5b60e87c1d07bb0aa591acf30cfe31ccd89b624a Mon Sep 17 00:00:00 2001 From: Vasily Tarasov Date: Fri, 21 Sep 2018 19:41:44 -0700 Subject: [PATCH] Increase Volt's steering limit (#351) * Increase Volt's steering limit * Merge panda subtree --- panda/VERSION | 2 +- panda/board/safety/safety_gm.h | 2 +- panda/tests/safety/test_gm.py | 2 +- selfdrive/car/gm/carcontroller.py | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) diff --git a/panda/VERSION b/panda/VERSION index 89fb16f883f364..261f3475721dd3 100644 --- a/panda/VERSION +++ b/panda/VERSION @@ -1 +1 @@ -v1.1.4 \ No newline at end of file +v1.1.5 \ No newline at end of file diff --git a/panda/board/safety/safety_gm.h b/panda/board/safety/safety_gm.h index 0aa94244446c80..f35b26b4ef84d3 100644 --- a/panda/board/safety/safety_gm.h +++ b/panda/board/safety/safety_gm.h @@ -8,7 +8,7 @@ // brake rising edge // brake > 0mph -const int GM_MAX_STEER = 255; +const int GM_MAX_STEER = 300; const int GM_MAX_RT_DELTA = 128; // max delta torque allowed for real time checks const int32_t GM_RT_INTERVAL = 250000; // 250ms between real time checks const int GM_MAX_RATE_UP = 7; diff --git a/panda/tests/safety/test_gm.py b/panda/tests/safety/test_gm.py index 346fc07381ba60..299de5a7e9ff51 100644 --- a/panda/tests/safety/test_gm.py +++ b/panda/tests/safety/test_gm.py @@ -5,7 +5,7 @@ MAX_RATE_UP = 7 MAX_RATE_DOWN = 17 -MAX_STEER = 255 +MAX_STEER = 300 MAX_BRAKE = 350 MAX_GAS = 3072 MAX_REGEN = 1404 diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index c844af3042ae75..be0ca64ccb1996 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -11,7 +11,7 @@ class CarControllerParams(): def __init__(self, car_fingerprint): if car_fingerprint == CAR.VOLT: - self.STEER_MAX = 255 + self.STEER_MAX = 300 self.STEER_STEP = 2 # how often we update the steer cmd self.STEER_DELTA_UP = 7 # ~0.75s time to peak torque (255/50hz/0.75s) self.STEER_DELTA_DOWN = 17 # ~0.3s from peak torque to zero