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This commit is contained in:
Shane Smiskol 2023-04-27 23:11:29 -07:00
parent 2809dbc71a
commit db7fd644a9
1 changed files with 2 additions and 3 deletions
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5
board/safety.h
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@ -644,9 +644,8 @@ 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
if (!steer_control_enabled) {
violation |= max_limit_check(desired_angle, angle_meas.max + 1, angle_meas.min - 1);
}
violation |= (!steer_control_enabled &&
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;