diff --git a/README.md b/README.md index 1c3debf7d..702fd246a 100644 --- a/README.md +++ b/README.md @@ -82,12 +82,12 @@ Requires further assistance with software installation? Join the [sunnypilot Dis --- In addition to all sunnypilot features, bluepilot incorporates the following Ford specific enhacements. -- [**Improved Ford Longitudinal controls**] - logic to adjust stock OpenPilot single acceleration signal into seperate gas and brake signals for much smoother long control on ford vehicles. +- [**Improved Ford Longitudinal controls**] - Logic to adjust stock OpenPilot single acceleration signal into seperate gas and brake signals for much smoother long control on ford vehicles. - [**Anti-Windup in Turns**] - Logic to reset the EPAS back to zero when a human turn is detected. This prevents the EPAS from winding up and fighting to keep turning after the car has straightened up. Makes experimental mode and MADS safer to use. - [**Anti Ping Pong Logic**] - Tunable amounts of predicted curvature (https://www.f150gen14.com/forum/threads/introducing-bluepilot-a-ford-specific-fork-for-comma3x-openpilot.24241/#post-457707) for straight aways and curves. This greatly reduce steering wheel wiggle and ping pong. -- [**Less Aggressive Lane Changes**] - utilizes a blend of desired curvature and predicted curvature to achieve smoother, less aggressive lane changes. -- [**Tunable Curve Cutting**] - adjust the amount of curvature applied in curves to eliminate cutting corners - +- [**Less Aggressive Lane Changes**] - Utilizes a blend of desired curvature and predicted curvature to achieve smoother, less aggressive lane changes. +- [**Tunable Curve Cutting**] - Adjust the amount of curvature applied in curves to eliminate cutting corners +- [**Updated Steering Limited Exceeded Calculation**] - Updated logic to determine when steering limited has actually been exceeded. Reduces nuiscance alerts. diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index a4a473297..545a612fb 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -275,8 +275,7 @@ class CarController(CarControllerBase): requested_curvature = requested_curvature * self.high_curvature_factor # apply ford cuvature safety limits - apply_curvature = requested_curvature - # apply_curvature = apply_ford_curvature_limits(requested_curvature, self.apply_curvature_last, current_curvature, CS.out.vEgoRaw) + apply_curvature = apply_ford_curvature_limits(requested_curvature, self.apply_curvature_last, current_curvature, CS.out.vEgoRaw) # detect if steering was limited if (requested_curvature != apply_curvature) and (not steeringPressed):