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lateral allowed

This commit is contained in:
Shane Smiskol 2022-12-02 16:47:15 -08:00
parent 5daf884d20
commit fc5c43f988
1 changed files with 3 additions and 3 deletions
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6
board/safety.h
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@ -620,7 +620,7 @@ bool steer_torque_cmd_checks(int desired_torque, int steer_req, const SteeringLi
bool steer_angle_cmd_checks(int desired_angle, bool steer_control_enabled, const SteeringLimits limits) {
bool violation = false;
if (controls_allowed && steer_control_enabled) {
if (get_lateral_allowed() && steer_control_enabled) {
// convert floating point angle rate limits to integers in the scale of the desired angle on CAN,
// add 1 to not false trigger the violation
int delta_angle_up = (interpolate(limits.angle_rate_up_lookup, vehicle_speed) * limits.angle_deg_to_can) + 1.;
@ -635,12 +635,12 @@ bool steer_angle_cmd_checks(int desired_angle, bool steer_control_enabled, const
desired_angle_last = desired_angle;
// Angle should be the same as current angle while not steering
violation |= (!controls_allowed &&
violation |= (!get_lateral_allowed() &&
((desired_angle < (angle_meas.min - 1)) ||
(desired_angle > (angle_meas.max + 1))));
// No angle control allowed when controls are not allowed
violation |= !controls_allowed && steer_control_enabled;
violation |= !get_lateral_allowed() && steer_control_enabled;
return violation;
}