fix: Do not steer when disengaged in external control mode. Do not pr…

…event steering fault when driving takes control and steers fast

.devcontainer/.host/.Xauthority

@@ -0,0 +1 @@
+/Users/ahernan1/.Xauthority

selfdrive/assets/translations_assets.qrc

@@ -0,0 +1,15 @@
+<!DOCTYPE RCC><RCC version="1.0">
+<qresource>
+<file alias="main_en">../ui/translations/main_en.qm</file>
+<file alias="main_de">../ui/translations/main_de.qm</file>
+<file alias="main_fr">../ui/translations/main_fr.qm</file>
+<file alias="main_pt-BR">../ui/translations/main_pt-BR.qm</file>
+<file alias="main_tr">../ui/translations/main_tr.qm</file>
+<file alias="main_ar">../ui/translations/main_ar.qm</file>
+<file alias="main_th">../ui/translations/main_th.qm</file>
+<file alias="main_zh-CHT">../ui/translations/main_zh-CHT.qm</file>
+<file alias="main_zh-CHS">../ui/translations/main_zh-CHS.qm</file>
+<file alias="main_ko">../ui/translations/main_ko.qm</file>
+<file alias="main_ja">../ui/translations/main_ja.qm</file>
+</qresource>
+</RCC>

selfdrive/car/toyota/carcontroller.py

@@ -72,26 +72,26 @@ def update(self, CC, CS, now_nanos):
       new_steer = int(round(actuators.steer * 1000))
       apply_steer = new_steer
       if self.CCP.tuvParams.torqueRateLimiting:
-        apply_steer = apply_meas_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.CCP)        
-      apply_steer_req = 1      
+        apply_steer = apply_meas_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.CCP)
 
     else:
       new_steer = int(round(actuators.steer * self.CCP.STEER_MAX))
       apply_steer = apply_meas_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.CCP)
-
-      # Count up to MAX_STEER_RATE_FRAMES, at which point we need to cut torque to avoid a steering fault
-      if lat_active and abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE:
-        self.steer_rate_counter += 1
-      else:
-        self.steer_rate_counter = 0
-
-      apply_steer_req = 1
-      if not lat_active:
-        apply_steer = 0
-        apply_steer_req = 0
-      elif self.steer_rate_counter > MAX_STEER_RATE_FRAMES:
-        apply_steer_req = 0
-        self.steer_rate_counter = 0
+
+    # Count up to MAX_STEER_RATE_FRAMES, at which point we need to cut torque to avoid a steering fault.
+    # We do not do this when in External Control Mode so that car safety is persistent after user takes control
+    if lat_active and not self.CCP.externalControlMode and abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE:
+      self.steer_rate_counter += 1
+    else:
+      self.steer_rate_counter = 0
+
+    apply_steer_req = 1
+    if not lat_active:
+      apply_steer = 0
+      apply_steer_req = 0
+    elif self.steer_rate_counter > MAX_STEER_RATE_FRAMES:
+      apply_steer_req = 0
+      self.steer_rate_counter = 0
 
     # Never actuate with LKA on cars that only support LTA
     if self.CP.steerControlType == car.CarParams.SteerControlType.angle: