FCA: Only spoof EPS when steering command is active #15
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this still does not work with MADS
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sunnyhaibin
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it seems EPS will fault when the speed is low (e.g. <15mph) and LKAS torque is sent too soon. introduce a way to dyanmically adjust the wait time (cycles) based on the speed before spoofing for speed <3mph, the wait time is 1s. for speed <9mph, the wait time is 0.5s. for speed <15mph, the wait time is 0.2s. for speed <39mph, the wait time is 0.1s. for speed >=39mph, no wait time.
<5kph, delay 0.7s <10kph, delay 0.6s <15kph, delay 0.4s <25kph, delay 0.2s <65kph, delay 0.1s
<5kph, delay 0.7s <10kph, delay 0.6s <15kph, delay 0.4s <20kph, delay 0.3s <25kph, delay 0.2s <65kph, delay 0.1s
sunnyhaibin
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Jul 29, 2024
* MADS: cruise main button check cleanup * exit and resume controls cleanup * shorten and simplier * Update var names * simplify LKAS button press * more cleanup * Hyundai longitudinal: revert back for now * Add todo for future PR
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