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Merged
devimauz merged 1 commit into from
Feb 2, 2026
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BMW: Import Numpy for Interp Function #2

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3 changes: 2 additions & 1 deletion opendbc_repo/opendbc/car/bmw/carcontroller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6,13 +6,14 @@
from opendbc.car.interfaces import CarControllerBase
from opendbc.can.packer import CANPacker
from opendbc.car.common.conversions import Conversions as CV
from common import numpy_fast as np

VisualAlert = car_capnp.CarControl.HUDControl.VisualAlert

def calc_steering_torque_hold(angle, vEgo):
hold_BP = [-40.0, -6.0, -4.0, -3.0, -2.0, -1.0, -0.5, 0.5, 1.0, 2.0, 3.0, 4.0, 6.0, 40.0]
hold_V = [-12.0, -5.7, -5.0, -4.5, -4.0, -3.3, -2.5, 2.5, 3.3, 4.0, 4.5, 5.0, 5.7, 12.0]
return interp(angle, hold_BP, hold_V)
return np.interp(angle, hold_BP, hold_V)

# DO NOT CHANGE: Cruise control step size
CC_STEP = 1 # cruise single click jump - always 1 - interpreted as km or miles depending on DSC or DME set units
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