max steering angle for nissan

commaai · Jul 19, 2024 · 894e653 · 894e653
1 parent 0f58e96
commit 894e653
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py
@@ -1,12 +1,16 @@
 from cereal import car
 from opendbc.can.packer import CANPacker
+from openpilot.common.numpy_fast import clip
 from openpilot.selfdrive.car import apply_std_steer_angle_limits
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.nissan import nissancan
 from openpilot.selfdrive.car.nissan.values import CAR, CarControllerParams
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
+# When output steering Angle not within range -1311 and 1310,
+#   CANPacker packs wrong angle output to be decoded by panda
+MAX_STEER_ANGLE = 1310
 
 class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
@@ -49,6 +53,7 @@ def update(self, CC, CS, now_nanos):
       apply_angle = CS.out.steeringAngleDeg
       self.lkas_max_torque = 0
 
+    apply_angle = clip(apply_angle, -MAX_STEER_ANGLE, MAX_STEER_ANGLE)
     self.apply_angle_last = apply_angle
 
     if self.CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL, CAR.NISSAN_ALTIMA) and pcm_cancel_cmd: