Nissan: Enable steering at standstill #2812
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Increased LKAS_MAX_TORQUE from 1 to 2.54 for better performance.
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video doesn't exist |
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I think this is the video he is referring to: https://discord.com/channels/469524606043160576/1354673361719918722/1421697692144373832 |
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Thanks @Sathans, that is it! :) |
sshane
reviewed
Oct 15, 2025
| ret.brand = "nissan" | ||
| ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.nissan)] | ||
| ret.autoResumeSng = False | ||
| ret.steerAtStandstill = True |
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It's easiest to merge smaller, standalone changes separately. Right now you're gating this feature addition on a safety related lateral torque change, which obviously takes much longer to review + requires comma to buy or rent the vehicle to validate it ourselves.
Can you split this change out and get a route of steering at a standstill?
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Yeah, let me revert the torque related commits! I'll try to get a route as soon as I can
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gncnpk
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Video showing both steering at standstill and increased max torque: https://cdn.discordapp.com/attachments/1354673361719918722/1421697691678670938/IMG_8442.mov?ex=68d9faa7&is=68d8a927&hm=c5b3b04660700a412a593bf6832ca8c249b1d8497b26b3cdfa812d7c7d9d0351&