5 ms·

Yeah plenty has changed since then, there are limits that are checked twice to ensure the driver is always able to take control. If violated, the car or openpil

• fabiensanglard 7y ago
  Source (i assume you read the source code and know where these checks are)?
  • enragedcacti 7y ago
    https://github.com/commaai/openpilot/blob/a2ae18d1dbd1e59c38ce22fa25ddffbd1d3084e3/panda/board/safety.h#L156 https://github.com/commaai/openpilot/blob/a2ae18d1dbd1e59c38...
    • enragedcacti 7y ago
      This was harder to find but this is where caps for steering are set in OpenPilot: https://github.com/commaai/openpilot/blob/a2ae18d1dbd1e59c38ce22fa25ddffbd1d3084e3/selfdrive/controls/lib/latcontrol_indi.py#L99 https://github.com/commaai/openpilot/blob/a2ae18d1dbd1e59c38...
      • enragedcacti 7y ago
        Last but not least, here is brake and gas limiting: https://github.com/commaai/openpilot/blob/a2ae18d1dbd1e59c38ce22fa25ddffbd1d3084e3/selfdrive/controls/lib/longcontrol.py#L76 https://github.com/commaai/openpilot/blob/a2ae18d1dbd1e59c38...