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when actual speed is higher than minimum speed, use actual speed #18

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when actual speed is higher than minimum speed, use actual speed #18

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9 changes: 7 additions & 2 deletions board/safety/safety_defaults.h
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Original file line number Diff line number Diff line change
Expand Up @@ -37,15 +37,20 @@ static void send_steer_enable_speed(CAN_FIFOMailBox_TypeDef *to_fwd){
int eps_cutoff_speed;
int lkas_enable_speed = 65 * kph_factor;
int apa_enable_speed = 0 * kph_factor;
int actual_speed = GET_BYTE(to_fwd, 4) << 8 | GET_BYTE(to_fwd, 5);
int veh_speed = GET_BYTE(to_fwd, 4) | GET_BYTE(to_fwd, 5) << 8;

eps_cutoff_speed = veh_speed;

if(steer_type == 2) {
eps_cutoff_speed = apa_enable_speed >> 8 | ((apa_enable_speed << 8) & 0xFFFF); //2kph with 128 factor
if (actual_speed < apa_enable_speed) {
eps_cutoff_speed = apa_enable_speed >> 8 | ((apa_enable_speed << 8) & 0xFFFF); //2kph with 128 factor
}
}
else if (steer_type == 1) {
eps_cutoff_speed = lkas_enable_speed >> 8 | ((lkas_enable_speed << 8) & 0xFFFF); //65kph with 128 factor
if (actual_speed < lkas_enable_speed) {
eps_cutoff_speed = lkas_enable_speed >> 8 | ((lkas_enable_speed << 8) & 0xFFFF); //65kph with 128 factor
}
}

to_fwd->RDHR &= 0x00FF0000; //clear speed and Checksum
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