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firestar5683
2026-06-03 07:50:13 -05:00
parent 3118ff5c52
commit 3e591f311c
2 changed files with 8 additions and 5 deletions
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selfdrive/controls/lib/latcontrol_torque.py
+5 -5
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@@ -480,11 +480,11 @@ IONIQ_6_DIRECTIONAL_TAPER_UNWIND_FLOOR_LEFT = 0.10
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_FLOOR_RIGHT = 0.04
IONIQ_6_DIRECTIONAL_TAPER_JERK_ONSET = 0.60
IONIQ_6_DIRECTIONAL_TAPER_JERK_WIDTH = 0.14
IONIQ_6_DIRECTIONAL_TAPER_LOW_SPEED_RELIEF = 0.72
IONIQ_6_DIRECTIONAL_TAPER_LOW_SPEED_RELIEF_SPEED = 9.0
IONIQ_6_DIRECTIONAL_TAPER_LOW_SPEED_RELIEF_SPEED_WIDTH = 1.4
IONIQ_6_DIRECTIONAL_TAPER_LOW_SPEED_RELIEF_LAT = 0.18
IONIQ_6_DIRECTIONAL_TAPER_LOW_SPEED_RELIEF_LAT_WIDTH = 0.10
IONIQ_6_DIRECTIONAL_TAPER_LOW_SPEED_RELIEF = 0.88
IONIQ_6_DIRECTIONAL_TAPER_LOW_SPEED_RELIEF_SPEED = 9.3
IONIQ_6_DIRECTIONAL_TAPER_LOW_SPEED_RELIEF_SPEED_WIDTH = 0.9
IONIQ_6_DIRECTIONAL_TAPER_LOW_SPEED_RELIEF_LAT = 0.10
IONIQ_6_DIRECTIONAL_TAPER_LOW_SPEED_RELIEF_LAT_WIDTH = 0.06
IONIQ_6_HEAVY_DIRECTIONAL_TAPER_LAT_START = 0.82
IONIQ_6_HEAVY_DIRECTIONAL_TAPER_LAT_WIDTH = 0.12
IONIQ_6_HEAVY_DIRECTIONAL_TAPER_BASE_LEFT = 0.10
selfdrive/controls/tests/test_latcontrol.py
+3
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@@ -435,6 +435,9 @@ class TestLatControl:
assert get_ioniq_6_directional_taper_scale(-1.2, 0.7, 8.0) == pytest.approx(get_ioniq_6_directional_taper_scale(-1.2, 0.7, 25.0), abs=0.02)
assert get_ioniq_6_directional_taper_scale(-0.18, -0.40, 3.0) > get_ioniq_6_directional_taper_scale(-0.18, -0.40, 9.0)
assert get_ioniq_6_directional_taper_scale(-0.18, -0.40, 9.0) > get_ioniq_6_directional_taper_scale(-0.18, -0.40, 20.0)
assert get_ioniq_6_directional_taper_scale(-0.50, -0.40, 3.0) > get_ioniq_6_directional_taper_scale(-0.50, -0.40, 6.0)
assert get_ioniq_6_directional_taper_scale(-0.50, -0.40, 6.0) > get_ioniq_6_directional_taper_scale(-0.50, -0.40, 9.0)
assert get_ioniq_6_directional_taper_scale(-0.50, -0.40, 9.0) > get_ioniq_6_directional_taper_scale(-0.50, -0.40, 20.0)
def test_ioniq_6_output_taper_curve(self):
assert get_ioniq_6_output_taper_scale(0.0, 0.0, 25.0) < get_ioniq_6_output_taper_scale(0.0, 0.0, 8.0) <= 1.0