From b49032f0c3fd4fb485827df647879b35035e8f0b Mon Sep 17 00:00:00 2001 From: "IQ.Lvbs CI [bot]" Date: Fri, 4 Sep 2026 12:28:32 -0500 Subject: [PATCH] IQ.Pilot Release Commit @ 5394182 --- .../package_sources/iqdbc/iqdbc/car/byd/bydcan.py | 14 ++++++-------- 1 file changed, 6 insertions(+), 8 deletions(-) diff --git a/artifacts/package_sources/iqdbc/iqdbc/car/byd/bydcan.py b/artifacts/package_sources/iqdbc/iqdbc/car/byd/bydcan.py index c5f1dee1d..9b9ff59d8 100644 --- a/artifacts/package_sources/iqdbc/iqdbc/car/byd/bydcan.py +++ b/artifacts/package_sources/iqdbc/iqdbc/car/byd/bydcan.py @@ -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