IQ.Pilot Release Commit @ f2a861c

iqpilot/selfdrive/controls/steering_fault_recovery.py

@@ -0,0 +1,18 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+from iqpilot.common.realtime import DT_CTRL
+
+STEER_FAULT_RECOVERY_FRAMES = int(1.0 / DT_CTRL)
+
+
+class SteeringFaultRecovery:
+  def __init__(self) -> None:
+    self.clear_frames = STEER_FAULT_RECOVERY_FRAMES
+
+  def update(self, temporary: bool, permanent: bool) -> bool:
+    if temporary or permanent:
+      self.clear_frames = 0
+    else:
+      self.clear_frames = min(self.clear_frames + 1, STEER_FAULT_RECOVERY_FRAMES)
+    return self.clear_frames == STEER_FAULT_RECOVERY_FRAMES