Merge fix

edukinara · Feb 5, 2019 · 167ef82 · 167ef82
1 parent 6d737ca
commit 167ef82
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Showing 2 changed files with 2 additions and 5 deletions.
diff --git a/models/driving_model.dlc b/models/driving_model.dlc
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
@@ -135,19 +135,16 @@ def update(self, sendcan, enabled, CS, frame, actuators, \
     BRAKE_MAX = 1024/4
     if CS.CP.carFingerprint in (CAR.ACURA_ILX):
       STEER_MAX = 0xF00
-      STEER_SCALE = STEER_MAX
     elif CS.CP.carFingerprint in (CAR.CRV, CAR.ACURA_RDX):
       STEER_MAX = 0x3e8  # CR-V only uses 12-bits and requires a lower value (max value from energee)
-      STEER_SCALE = STEER_MAX
     else:
       # Fix max value without throwing off the tune
-      STEER_MAX = 0xF00
-      STEER_SCALE = 0x1000
+      STEER_MAX = 0x1000
 
     # steer torque is converted back to CAN reference (positive when steering right)
     apply_gas = clip(actuators.gas, 0., 1.)
     apply_brake = int(clip(self.brake_last * BRAKE_MAX, 0, BRAKE_MAX - 1))
-    apply_steer = int(clip(-actuators.steer * STEER_SCALE, -STEER_MAX, STEER_MAX))
+    apply_steer = int(clip(-actuators.steer * STEER_MAX, -STEER_MAX, STEER_MAX))
 
     lkas_active = enabled and not CS.steer_not_allowed