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This commit is contained in:
Shane Smiskol 2023-04-27 23:14:18 -07:00
parent db7fd644a9
commit ae70c7ff3b
1 changed files with 1 additions and 1 deletions
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2
board/safety.h
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@ -645,7 +645,7 @@ bool steer_angle_cmd_checks(int desired_angle, bool steer_control_enabled, const
// Angle should be the same as current angle while not steering
violation |= (!steer_control_enabled &&
max_limit_check(desired_angle, angle_meas.max + 1, angle_meas.min - 1);
max_limit_check(desired_angle, angle_meas.max + 1, angle_meas.min - 1));
// No angle control allowed when controls are not allowed
violation |= !controls_allowed && steer_control_enabled;