Tesla: fix angle control saturation #35256
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greatgitsby
reviewed
May 17, 2025
| # note that with torque, we use this to avoid saturation as we know the max torque we can ever apply there | ||
| angle_log.saturated = bool(self._check_saturation(steer_limited_by_controls, CS, False, curvature_limited)) | ||
| if self.use_steer_limited_by_controls: | ||
| # these cars' carcontrolers calculate max lateral accel and jerk, so we can rely on carOutput for saturation |
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super nit: carcontrollers
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Closes #35050. Remove carState angle diffing, as that's delayed by steerActuatorDelay or more. Now we match the torque controller, where this field is if we're maxing out the carcontroller limiting.
Behaves very similar to torque cars now (we can probably lower the timer of 1s now to be like torque cars):
some comments:
3fe6024
Tesla is a new exception in that
carOutput.steeringAngleDegactually captures when it maxes out both accel and jerk. For Toyota, Ford Q3, and Nissan, it only captures maxing out jerk, not accel, so we won't alert in many cases for these cars. Merging something that fixes Tesla first, then we can improve the other cars