add deadbandLow back to hca7 lock

dkiiv · May 13, 2024 · 714ca1a · 714ca1a
1 parent bd14062
commit 714ca1a
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
@@ -60,7 +60,8 @@ def update(self, CC, CS, ext_bus, now_nanos, frogpilot_variables):
           self.steeringRate = CS.out.steeringRateDeg if CS.out.steeringRateDeg >= 0 else CS.out.steeringRateDeg *-1
           if ((self.steeringAngle >= self.hca_centerDeadbandHigh) or \
                ((CS.out.leftBlinker or CS.out.rightBlinker) and abs(new_steer >= self.hca_deadbandNM_switch)) or \
-               (abs(new_steer) >= (self.hca_deadbandNM_switch / 3) and not (CS.out.leftBlinker or CS.out.rightBlinker)) or \
+               (abs(new_steer) >= (self.hca_deadbandNM_switch / 3) and not (CS.out.leftBlinker or CS.out.rightBlinker) and \
+                                        self.steeringAngle >= self.hca_centerDeadbandLow) or \
                (self.hca_mode == 7 and ((abs(new_steer) >= 25 and self.steeringAngle <= self.hca_centerDeadbandLow) or \
                                          self.steeringAngle >= self.hca_centerDeadbandLow))):