updated max dtheta velocity threshold based on data

Author: AlexBailey11

include/VCF_Constants.h

@@ -63,13 +63,13 @@ namespace VCFInterfaceConstants {
     constexpr float PEDAL_REF_2V5_SCALE = 1.0;
     constexpr float PEDAL_REF_2V5_OFFSET = 0;
 
-    constexpr float STEERING_1_SCALE = 1.0; // TODO: Figure out what these mean
+    constexpr float STEERING_1_SCALE = 1.0;
     constexpr float STEERING_1_OFFSET = 0;
-    constexpr float STEERING_2_SCALE = 1.0; // TODO: Figure out if steering 2 = steering 1
+    constexpr float STEERING_2_SCALE = 1.0;
     constexpr float STEERING_2_OFFSET = 0;
     // Scale for steering sensor = 0.02197265 . Offset has to be mechanically determined
 
-    constexpr float ACCEL_1_SCALE = 1.0; // TODO: Figure out what these should be
+    constexpr float ACCEL_1_SCALE = 1.0;
     constexpr float ACCEL_1_OFFSET = 0;
     constexpr float ACCEL_2_SCALE = 1.0;
     constexpr float ACCEL_2_OFFSET = 0;
@@ -155,8 +155,7 @@ namespace VCFSystemConstants {
     constexpr float ERROR_BETWEEN_SENSORS_TOLERANCE = 5.0f;
 
     // rate of angle change
-    constexpr float MAX_DTHETA_THRESHOLD = 50.0f; //maximum change in angle since last reading to consider the reading valid
-    // TODO: find best value for this threshold
+    constexpr float MAX_DTHETA_THRESHOLD = 150.0f; //maximum change in angle since last reading to consider the reading valid, based on actual data
 
     // degrees per bit
     constexpr float DEG_PER_COUNT_DIGITAL = 360.0f / 16384.0f; // based on datasheet

lib/systems/src/SteeringSystem.cpp

@@ -30,10 +30,10 @@ void SteeringSystem::recalibrate_steering_digital() {
     _steeringParams.digital_tol_deg = digital_tol_counts * _steeringParams.deg_per_count_digital;
     _steeringParams.digital_midpoint = (_steeringParams.max_steering_signal_digital + _steeringParams.min_steering_signal_digital) / 2;
     _steeringParams.analog_midpoint = (_steeringParams.max_steering_signal_analog + _steeringParams.min_steering_signal_analog) / 2;
-    _steeringParams.analog_min_with_margins = static_cast<int32_t>(_steeringParams.min_steering_signal_analog - analog_tol_counts);
-    _steeringParams.analog_max_with_margins = static_cast<int32_t>(_steeringParams.max_steering_signal_analog + analog_tol_counts);
-    _steeringParams.digital_min_with_margins = static_cast<int32_t>(_steeringParams.min_steering_signal_digital - digital_tol_counts);
-    _steeringParams.digital_max_with_margins = static_cast<int32_t>(_steeringParams.max_steering_signal_digital + digital_tol_counts);
+    _steeringParams.analog_min_with_margins = static_cast<int32_t>(_steeringParams.min_steering_signal_analog - analog_tol_counts); // NOLINT we wont see numbers out of range
+    _steeringParams.analog_max_with_margins = static_cast<int32_t>(_steeringParams.max_steering_signal_analog + analog_tol_counts); // NOLINT we wont see numbers out of range
+    _steeringParams.digital_min_with_margins = static_cast<int32_t>(_steeringParams.min_steering_signal_digital - digital_tol_counts); // NOLINT we wont see numbers out of range
+    _steeringParams.digital_max_with_margins = static_cast<int32_t>(_steeringParams.max_steering_signal_digital + digital_tol_counts); // NOLINT we wont see numbers out of range
 
     if (max_observed_analog > min_observed_analog && _steeringParams.span_signal_analog > 2500) // NOLINT with 360 deg analog sensor, typical span is about 2000
     {