[bugsy924]

Yeah plenty has changed since then, there are limits that are checked twice to ensure the driver is always able to take control. If violated, the car or openpilot throws an error openpilot.comma.ai

[fabiensanglard]

Source (i assume you read the source code and know where these checks are)?

[enragedcacti]

https://github.com/commaai/openpilot/blob/a2ae18d1dbd1e59c38...

[enragedcacti]

This was harder to find but this is where caps for steering are set in OpenPilot:

https://github.com/commaai/openpilot/blob/a2ae18d1dbd1e59c38...

[enragedcacti]

Last but not least, here is brake and gas limiting:

https://github.com/commaai/openpilot/blob/a2ae18d1dbd1e59c38...