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Reverting steering to original value

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This commit is contained in:
Ted Slesinski
2017-06-08 13:15:30 -04:00
committed by GitHub
parent 0bb75c5389
commit 615db3f7fd
1 changed files with 5 additions and 5 deletions
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10
selfdrive/car/honda/carcontroller.py
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@@ -140,17 +140,17 @@ class CarController(object):
tt = sec_since_boot()
GAS_MAX = 1004
BRAKE_MAX = 1024/4
STEER_MAX = 0xF00
if CS.crv:
STEER_MAX = 0xFFF/2
else:
STEER_MAX = 0xF00
GAS_OFFSET = 328
# steer torque is converted back to CAN reference (positive when steering right)
apply_gas = int(clip(final_gas*GAS_MAX, 0, GAS_MAX-1))
apply_brake = int(clip(final_brake*BRAKE_MAX, 0, BRAKE_MAX-1))
# crvtodo: tweak steering to match precision of 0xE4 code.
if CS.crv:
apply_steer = int(clip((-final_steer*.996)*0x7F0, -0x7F0, 0x7F0))
else:
apply_steer = int(clip(-final_steer*STEER_MAX, -STEER_MAX, STEER_MAX))
apply_steer = int(clip(-final_steer*STEER_MAX, -STEER_MAX, STEER_MAX))
# no gas if you are hitting the brake or the user is
if apply_gas > 0 and (apply_brake != 0 or CS.brake_pressed):