Tesla: fix angle control saturation (commaai#35256)

* we shouldn't need this

* or this?

* stash junk

* hmm

* comment

* cc

* sadly we have to maintain behavior

* bump

Author: sshane

selfdrive/controls/lib/latcontrol_angle.py

@@ -10,6 +10,7 @@ class LatControlAngle(LatControl):
   def __init__(self, CP, CI):
     super().__init__(CP, CI)
     self.sat_check_min_speed = 5.
+    self.use_steer_limited_by_controls = CP.brand == "tesla"
 
   def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
     angle_log = log.ControlsState.LateralAngleState.new_message()
@@ -22,7 +23,13 @@ def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curv
       angle_steers_des = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll))
       angle_steers_des += params.angleOffsetDeg
 
-    angle_control_saturated = abs(angle_steers_des - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD
+    if self.use_steer_limited_by_controls:
+      # these cars' carcontrolers calculate max lateral accel and jerk, so we can rely on carOutput for saturation
+      angle_control_saturated = steer_limited_by_controls
+    else:
+      # for cars which use a method of limiting torque such as a torque signal (Nissan and Toyota)
+      # or relying on EPS (Ford Q3), carOutput does not capture maxing out torque  # TODO: this can be improved
+      angle_control_saturated = abs(angle_steers_des - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD
     angle_log.saturated = bool(self._check_saturation(angle_control_saturated, CS, False, curvature_limited))
     angle_log.steeringAngleDeg = float(CS.steeringAngleDeg)
     angle_log.steeringAngleDesiredDeg = angle_steers_des