increase steer rate limits and use filtered steer rate signal

dzid26 · Aug 20, 2024 · 8174df6 · 8174df6
1 parent 732980d
commit 8174df6
Showing 1 changed file with 7 additions and 7 deletions.
diff --git a/board/safety/safety_bmw.h b/board/safety/safety_bmw.h
@@ -2,7 +2,7 @@
 #define BMW_EngineAndBrake 0xA8
 #define BMW_AccPedal 0xAA
 #define BMW_Speed 0x1A0
-#define BMW_SteeringWheelAngle 0xC4
+#define BMW_SteeringWheelAngl_slow 0xC8
 #define BMW_CruiseControlStatus 0x200
 #define BMW_DynamicCruiseControlStatus 0x193
 #define BMW_CruiseControlStalk 0x194
@@ -17,7 +17,7 @@ RxCheck bmw_rx_checks[] = {  // todo add .check_checksum and .max_counter
   {.msg = {{BMW_EngineAndBrake,       BMW_PT_CAN, 8, .frequency = 100U}, { 0 }, { 0 }}},
   {.msg = {{BMW_AccPedal,             BMW_PT_CAN, 8, .frequency = 100U}, { 0 }, { 0 }}},
   {.msg = {{BMW_Speed,                BMW_PT_CAN, 8, .frequency = 50U}, { 0 }, { 0 }}},
-  {.msg = {{BMW_SteeringWheelAngle,   BMW_PT_CAN, 7, .frequency = 100U}, { 0 }, { 0 }}},
+  {.msg = {{BMW_SteeringWheelAngl_slow,   BMW_PT_CAN, 6, .frequency = 5U}, { 0 }, { 0 }}},
   {.msg = {{BMW_TransmissionDataDisplay,   BMW_PT_CAN, 6, .frequency = 5U}, { 0 }, { 0 }}},
   // todo cruise control type dependant, use param:
   // {.msg = {{BMW_CruiseControlStatus,  BMW_PT_CAN, 8, .frequency = 5U}, { 0 }, { 0 }}},
@@ -55,12 +55,12 @@ const struct lookup_t BMW_LOOKUP_MAX_ANGLE = {
 
 
 const struct lookup_t BMW_ANGLE_RATE_WINDUP = { // deg/s windup rate limit
-    {0., 5., 15.},      // m/s
-    {500., 80., 15.}};  // deg/s
+    {0., 5., 25.},      // m/s
+    {500., 80., 40.}};  // deg/s
 
 const struct lookup_t BMW_ANGLE_RATE_UNWIND = { // deg/s unwind rate limit
-    {0., 5., 15.},      // m/s
-    {500., 350., 40.}}; // deg/s
+    {0., 5., 25.},      // m/s
+    {500., 350., 50.}}; // deg/s
 
 const struct lookup_t BMW_MAX_TQ_RATE = {
     {0., 5., 15.},      // m/s
@@ -133,7 +133,7 @@ static void bmw_rx_hook(const CANPacket_t *to_push) {
   }
 
   //get latest steering wheel angle rate
-  if ((addr == BMW_SteeringWheelAngle) && (bus == BMW_PT_CAN)) {
+  if ((addr == BMW_SteeringWheelAngl_slow) && (bus == BMW_PT_CAN)) {
     float meas_angle = to_signed((GET_BYTE(to_push, 1) << 8) | GET_BYTE(to_push, 0), 16) * CAN_BMW_ANGLE_FAC; // deg
     float angle_rate = to_signed((GET_BYTE(to_push, 4) << 8) | GET_BYTE(to_push, 3), 16) * CAN_BMW_ANGLE_FAC; // deg/s
     // todo use common steer_angle_cmd_checks()