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firestar5683
2026-09-16 13:12:42 -05:00
parent 0fee545400
commit 09b53ccf9f
4 changed files with 142 additions and 11 deletions
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selfdrive/controls/tests/test_longcontrol.py
+7
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@@ -775,6 +775,13 @@ def test_elantra_final_stop_cap_softens_normal_low_speed_stop():
assert tuning.shape_stopping_accel(-0.85, -0.25, False, 0.5, False, -0.85) == pytest.approx(-0.85)
def test_elantra_final_stop_cap_does_not_release_brakes_behind_lead():
CP = make_longcontrol_cp(brand="hyundai", carFingerprint="HYUNDAI_ELANTRA_2021")
tuning = vehicle_tunes.LongControlVehicleTuning(CP)
assert tuning.shape_stopping_accel(-0.61, -0.57, True, 0.41, True, -0.85) == pytest.approx(-0.61)
def test_elantra_stopped_lead_handoff_holds_braking_direction_without_touching_brakes():
CP = make_longcontrol_cp(brand="hyundai", carFingerprint="HYUNDAI_ELANTRA_2021")
tuning = vehicle_tunes.LongControlVehicleTuning(CP)