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Have You Ever Hit Something While FSDb is On?

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People have. I've seen 3 videos.

I've seen it hit s curb, pole, and then hit a car.

In the curb/car videos it was obvious that Beta was not correct, but the owner allowed it to hit the curb/car. In both instances they "wanted to see what Beta would do".
 
I hit a curb thinking that AP was on. The only conclusion I came up with and posted it on another thread was that I may had put to much pressure on the wheel to counteract a nag only for the vehicle to just be on TACC and not steering control. I think as @ewoodrick mentioned, most A/P accidents are debunked where drivers thought A/P was on. I think it it maybe common that TACC was left on after steering wheel pressure where driver thought A/P was still on. The single chime is subtle.