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jyoung8607 / openpilot

open source driving agent
MIT License
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OP should transmit HCA_01 at 10Hz when not steering #3

Closed jyoung8607 closed 4 years ago

jyoung8607 commented 5 years ago

The factory LKAS camera transmits the CAN message HCA_01 at 50Hz when steering, and 10Hz when not. OP currently transmits at 50Hz all the time. This may or may not be having an ill effect, but there are sometimes issues with OP commanded torque not being applied for a few seconds after engagement, and we should match stock behavior if at all possible.

jyoung8607 commented 5 years ago

Just a historical note: the "bug" with torque not being applied after engagement turns out to be an OP "feature" wherein actuators.steer is suppressed until gas pedal input is zero, so no steering happens until you release the gas pedal. However, keeping this open as it would be nice to emulate stock sending rate behavior for other reasons.

jyoung8607 commented 5 years ago

Tested as workable, but creates problems in Cabana right now, and would require more extensive work to make truly correct. We also don't get any functionality out of it. Reclassifying as later enhancement.

jyoung8607 commented 4 years ago

Have decided there's no percentage in "fixing" this, closing.