Check for ISO lateral violations #35700
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card is car interfacing, controlsd is for calculating control input, selfdrived is rest
sshane
commented
Jul 12, 2025
| def check_lateral_iso_violation(car_control, controls_state, car_state, live_parameters, live_calibration, live_pose, calibrator): | ||
| calibrator.feed_live_calib(live_calibration) | ||
| device_pose = Pose.from_live_pose(live_pose) | ||
| calibrated_pose = calibrator.build_calibrated_pose(device_pose) |
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@fredyshox do you know why we stopped publishing the calibrated values?
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you don't want redundant info in the logs
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Sure, but you won't be able to debug this with PJ at the moment.
sshane
commented
Jul 13, 2025
| @@ -758,6 +758,12 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin | |||
| ET.NO_ENTRY: NoEntryAlert("Distraction Level Too High"), | |||
| }, | |||
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| EventName.lateralIsoViolation: { | |||
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Suggested change
| EventName.lateralIsoViolation: { | |
| EventName.unreasonableLateralActuation: { |
Suggested change
| EventName.lateralIsoViolation: { | |
| EventName.abnormalLateralActuation: { |
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Closes #35695