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* ford curvature rate limits draft * make common angle tests work with curvature * comment * no need for this * extra line * fix test * generic curvature test class * more reasonable limits * adjust limits * draft * works * works * clean up * add vehicle speed * works * clean up * clean up * more clean up * more clean up * lower * double * add updated bp * remove * can clean that up * draft * this works! * think that's the correct placement * try this * closer * use min * add/sub one to not falsely trip * remove old angle error safety * i'm not sure if clamp is more readable * fix that * fix * stash * fix these tests * ternary * floats are a pain * draft, works kinda * even better * round that * need tolerance * this should work (adding tol=1 wouldn't let us have multiple rate limits) * test works * clamp breaks if low is higher than high :((( down from 150 blocked msgs to 7! * no blocked msgs!!! * test a whole bunch * stash * stash * clean up test * clean up test to be more like torque (+ speeds) * clean up * cmt * test up * up and down are good * rename and remove * this is tested * uncomment * this is tested by ensuring we move towards error at a minimum rate * not used any more * revert common * clean up test_ford a bit more * some clean up (combine variables where it makes sense) * yeah can't use clamp since min isn't always < max, min(max(.. handles this * clean up * revert that * comments * cmt * another * that's old * misra! * Update board/safety/safety_ford.h * Update board/safety/safety_ford.h * add todo, fix test case * more clear, matches panda * add comment * Update tests/safety/test_ford.py * more fine speed increments * rm comment * better names * this is expected behavior (tested by common checks) * CURVATURE_ERROR_LIMIT_SPEED * better name? * pretty clean! * same for up * only used in one place now * these are now clear * common term * make vehicle_speed a sample_t * need to use values[0] * speed is a float * Revert "speed is a float" This reverts commit 01af02f1d35026d983cc2ba6d9ba364c87c800ee. * Revert "need to use values[0]" This reverts commit 8f6d68345a92f7285d07ca071285e903ed7871bb. * Revert "make vehicle_speed a sample_t" This reverts commit ecd8dc86b6b97cc8bff7da697353a8d90c358b12. * safety fixes for new speed sample * test fixes for new speed sample * fix misra and make intermediate variable * this isn't needed