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sonata hybrid

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This commit is contained in:
firestar5683
2026-06-08 20:55:23 -05:00
parent 9a9ac3af77
commit 77c82edb44
2 changed files with 14 additions and 5 deletions
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selfdrive/controls/lib/latcontrol_torque.py
+2 -2
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@@ -257,7 +257,7 @@ VOLT_STANDARD_CENTER_TAPER_SPEED_WIDTH = 2.5
SONATA_HYBRID_BASE_LAT_ACCEL_FACTOR_MULT = 1.05
SONATA_HYBRID_FF_REDUCTION_LEFT = 0.09
SONATA_HYBRID_FF_REDUCTION_RIGHT = 0.24
SONATA_HYBRID_FF_REDUCTION_RIGHT = 0.22
SONATA_HYBRID_FF_ONSET = 0.18
SONATA_HYBRID_FF_ONSET_WIDTH = 0.08
SONATA_HYBRID_FF_CUTOFF = 1.35
@@ -265,7 +265,7 @@ SONATA_HYBRID_FF_CUTOFF_WIDTH = 0.40
SONATA_HYBRID_TRANSITION_SPEED = 8.0
SONATA_HYBRID_PHASE_SCALE = 0.12
SONATA_HYBRID_TURN_IN_BOOST_LEFT = 0.12
SONATA_HYBRID_TURN_IN_BOOST_RIGHT = 0.00
SONATA_HYBRID_TURN_IN_BOOST_RIGHT = 0.02
SONATA_HYBRID_UNWIND_TAPER_LEFT = 0.18
SONATA_HYBRID_UNWIND_TAPER_RIGHT = 0.10
SONATA_HYBRID_CENTER_TAPER_MAX = 0.07
selfdrive/controls/tests/test_latcontrol.py
+12 -3
View File
@@ -239,11 +239,20 @@ class TestLatControl:
def test_sonata_hybrid_ff_scale_curve(self):
assert get_sonata_hybrid_ff_scale(0.0, 0.0, 20.0) == 1.0
assert get_sonata_hybrid_ff_scale(0.6, 0.0, 20.0) > get_sonata_hybrid_ff_scale(-0.6, 0.0, 20.0)
steady_left = get_sonata_hybrid_ff_scale(0.45, 0.0, 20.0)
steady_right = get_sonata_hybrid_ff_scale(-0.45, 0.0, 20.0)
turn_in_left = get_sonata_hybrid_ff_scale(0.45, 0.7, 6.0)
turn_in_right = get_sonata_hybrid_ff_scale(-0.45, -0.7, 6.0)
unwind_left = get_sonata_hybrid_ff_scale(0.45, -0.7, 6.0)
unwind_right = get_sonata_hybrid_ff_scale(-0.45, 0.7, 6.0)
assert steady_left < 1.0
assert steady_right < steady_left
assert get_sonata_hybrid_ff_scale(0.30, 0.0, 20.0) < 1.0
assert get_sonata_hybrid_ff_scale(0.30, 0.0, 20.0) < get_sonata_hybrid_ff_scale(0.10, 0.0, 20.0)
assert get_sonata_hybrid_ff_scale(0.4, 0.7, 6.0) > get_sonata_hybrid_ff_scale(0.4, 0.0, 6.0)
assert get_sonata_hybrid_ff_scale(-0.4, 0.7, 6.0) < get_sonata_hybrid_ff_scale(-0.4, 0.0, 6.0)
assert turn_in_left > steady_left
assert turn_in_right > steady_right
assert unwind_left < steady_left
assert unwind_right < steady_right
def test_sonata_hybrid_center_taper_curve(self):
assert get_sonata_hybrid_center_taper_scale(0.0, 30.0) < get_sonata_hybrid_center_taper_scale(0.0, 15.0)