sunnypilot v2026.002.000

version: sunnypilot v2026.002.000 (staging)
date: 2026-07-21T07:44:02
master commit: 2c334ede443d7391d27575af8c854a095ba702a8

openpilot/selfdrive/controls/lib/latcontrol.py

@@ -0,0 +1,31 @@
+import numpy as np
+from abc import abstractmethod, ABC
+from openpilot.selfdrive.locationd.helpers import Pose
+
+
+class LatControl(ABC):
+  def __init__(self, CP, CP_SP, CI, dt):
+    self.dt = dt
+    self.sat_limit = CP.steerLimitTimer
+    self.sat_time = 0.
+    self.sat_check_min_speed = 10.
+
+    # we define the steer torque scale as [-1.0...1.0]
+    self.steer_max = 1.0
+
+  @abstractmethod
+  def update(self, active: bool, CS, VM, params, steer_limited_by_safety: bool, desired_curvature: float, calibrated_pose: Pose,
+             curvature_limited: bool, lat_delay: float):
+    pass
+
+  def reset(self):
+    self.sat_time = 0.
+
+  def _check_saturation(self, saturated, CS, steer_limited_by_safety, curvature_limited):
+    # Saturated only if control output is not being limited by car torque/angle rate limits
+    if (saturated or curvature_limited) and CS.vEgo > self.sat_check_min_speed and not steer_limited_by_safety and not CS.steeringPressed:
+      self.sat_time += self.dt
+    else:
+      self.sat_time -= self.dt
+    self.sat_time = np.clip(self.sat_time, 0.0, self.sat_limit)
+    return self.sat_time > (self.sat_limit - 1e-3)