fix steering

MoreTore · Jul 23, 2023 · 5b0b00a · 5b0b00a
1 parent d044a43
commit 5b0b00a
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Showing 2 changed files with 7 additions and 8 deletions.
diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py
@@ -73,11 +73,10 @@ def update(self, CC, CS, now_nanos):
       # send steering command if GEN1
       #The ti cannot be detected unless OP sends a can message to it because the ti only transmits when it 
       #sees the signature key in the designated address range.
-      if self.frame % 2 == 0:
-        can_sends.append(mazdacan.create_ti_steering_control(self.packer, self.CP.carFingerprint,
-                                                          self.frame, ti_apply_steer))
-        can_sends.append(mazdacan.create_steering_control(self.packer, self.CP.carFingerprint,
-                                                        self.frame, apply_steer, CS.cam_lkas))
+      can_sends.append(mazdacan.create_ti_steering_control(self.packer, self.CP.carFingerprint,
+                                                        self.frame, ti_apply_steer))
+      can_sends.append(mazdacan.create_steering_control(self.packer, self.CP.carFingerprint,
+                                                      self.frame, apply_steer, CS.cam_lkas))
     else:
       resume = False
       hold = False

diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py
@@ -13,18 +13,18 @@ class CarControllerParams:
   def __init__(self, CP):
     self.STEER_STEP = 1 # 100 Hz
     if CP.carFingerprint in GEN1:
-      self.STEER_MAX = 600                # theoretical max_steer 2047
+      self.STEER_MAX = 800                # theoretical max_steer 2047
       self.STEER_DELTA_UP = 10             # torque increase per refresh
       self.STEER_DELTA_DOWN = 25           # torque decrease per refresh
-      self.STEER_DRIVER_ALLOWANCE = 5     # allowed driver torque before start limiting
+      self.STEER_DRIVER_ALLOWANCE = 15     # allowed driver torque before start limiting
       self.STEER_DRIVER_MULTIPLIER = 40     # weight driver torque
       self.STEER_DRIVER_FACTOR = 1         # from dbc
       self.STEER_ERROR_MAX = 350           # max delta between torque cmd and torque motor
 
       self.TI_STEER_MAX = 600                # theoretical max_steer 2047
       self.TI_STEER_DELTA_UP = 6             # torque increase per refresh
       self.TI_STEER_DELTA_DOWN = 15           # torque decrease per refresh
-      self.TI_STEER_DRIVER_ALLOWANCE = 5    # allowed driver torque before start limiting
+      self.TI_STEER_DRIVER_ALLOWANCE = 15    # allowed driver torque before start limiting
       self.TI_STEER_DRIVER_MULTIPLIER = 40     # weight driver torque
       self.TI_STEER_DRIVER_FACTOR = 1         # from dbc
       self.TI_STEER_ERROR_MAX = 350           # max delta between torque cmd and torque motor