Ford: improved steering control #25713
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incognitojam
commented
Sep 9, 2022
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incognitojam
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- refactor rate limits as "angle per second" limits
- calculate rate limit from command frequency (ford only sends at 20Hz! the limits were 5x too strict before)
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Define rate limits as "angle per second" and apply them according to the LKAS_STEER_STEP (command frequency).
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Sometimes the EPS just stops responding to the commands, but it doesn't appear to be faulted - if the driver steers the wheel manually to the desired angle it will recover... I will try limiting the difference between the reported steering angle and the angle we command.
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