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IQ.Pilot Release Commit @ 5394182

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IQ.Lvbs CI [bot]
2026-09-04 12:28:32 -05:00
parent bbd84a134f
commit b49032f0c3
1 changed files with 6 additions and 8 deletions
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artifacts/package_sources/iqdbc/iqdbc/car/byd/bydcan.py
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@@ -6,14 +6,12 @@
OEM_ANGLE_RATE_LIMIT = 500
SET_ME_FF_VALUE = 0x64
# This symmetric pair is the EPS authority ceiling, not a demand: the stock camera can hold it wide
# open because its own angle command never asks for much torque, but openpilot's does, and the EPS
# was measured saturating at +-470 against the +-500 ceiling while the wheel jittered. Other BYD
# angle-mode ports ship the equivalent field at 200-300. Lowered to 300 so the EPS runs out of
# authority before it can fight the driver or slam the wheel; raise back to OEM_ANGLE_RATE_LIMIT to
# restore byte-exact stock frames.
ANGLE_RATE_LIMIT_UPPER = 300
ANGLE_RATE_LIMIT_LOWER = -300
# Must stay at the OEM value. Tried at 300 (other BYD angle-mode ports ship the equivalent field at
# 200-300) to see whether it was an authority ceiling worth lowering: the car did not steer at all.
# Stock sends 500 in every one of 47625+ captured frames, idle and engaged alike, so the EPS treats
# any other value as no authority rather than as a softer limit.
ANGLE_RATE_LIMIT_UPPER = OEM_ANGLE_RATE_LIMIT
ANGLE_RATE_LIMIT_LOWER = -OEM_ANGLE_RATE_LIMIT
# 0x316 LKAS_STATE, in the order the stock camera walks them on an engage
LKAS_STATE_IDLE = 1