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c9c3cb38f6
* set ford vehicle speed * parse yaw rate signals * misra * misra * misra * misra * draft * update module * already checked * and set it properly * some stuff * draft * clean up (will fail tests because we don't send yaw rate yet) * could do something like this * this is better and less prone to bugs * match simple op limiting, debugging * set checksum for messages in tests * clean up * fix that * one m/s fudge * fix sign of yaw rate * interpolate detects size * forgot OP flips the curvature sign. it matches yaw on can * all my debugging crap * make replay work for ford * fix panda blocking messages (array is fixed size so size-1 is 0 rate at high speed) * uncomment safety test limits * revert * round for zero blocked msgs * fix limits * meas safety checks that down rate is >=, not < * test pass * lots of comments and draft what one meas torque check would look like * fix that * add curvature meas * add debugging stuff * Revert "add debugging stuff" This reverts commit 449783fc625954868a1cfca48a655cac7b074cc1. * messy but at least one test passes now * draft * add max_steer * some safety clean up * and that * start with a test that works * another test that works (sort of, we need more strict panda safety without false positives) * no max curvature check (not safety related), allow any rate limits * add new function * also need to consider max val here, since OP will send up to that * and now use the function * lower to 10 * compilation fixes * clean up (no rate limiting) * remove that too * curvature diff test * more clean up * debug * ? * better names * more official * use _curvature_meas_msg_array here * bit faster * no i don't * revert that * why not just use angle_meas? * bb ll * bb deb * clean up debug vals * more * revert replay drive debugging changes * Update board/safety.h * rm line * only need to round the final thing * not needed, under 10 ms * make a class variable * fix a misra? * another misra? better * ? * 12.1 * need to explicitly convert * add one to not false trigger the violation (float rounding) * not really needed * rm line * cmt * use clamp * rename * in struct * comment * use max_limit_check * draft clean up * Revert "draft clean up" This reverts commit d1a0e8acd1d0eb2bd7b75618c7df14e15c16e134. * make a global make a global * this is fine