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firestar5683
2026-09-08 10:52:51 -05:00
parent b91ea3e1da
commit 0b5ccb31e1
29 changed files with 579 additions and 185 deletions
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selfdrive/controls/tests/test_longcontrol.py
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@@ -765,6 +765,15 @@ def test_elantra_lead_stop_releases_stale_hard_brake_after_target_eases():
assert tuning.shape_stopping_accel(-1.20, -0.25, True, 1.0, False, -0.85) == pytest.approx(-1.20)
def test_elantra_final_stop_cap_softens_normal_low_speed_stop():
CP = make_longcontrol_cp(brand="hyundai", carFingerprint="HYUNDAI_ELANTRA_2021")
tuning = vehicle_tunes.LongControlVehicleTuning(CP)
assert tuning.shape_stopping_accel(-0.85, -0.25, True, 0.5, False, -0.85) == pytest.approx(-0.35)
assert tuning.shape_stopping_accel(-0.85, -1.25, True, 0.5, False, -0.85) == pytest.approx(-0.85)
assert tuning.shape_stopping_accel(-0.85, -0.25, False, 0.5, False, -0.85) == pytest.approx(-0.85)
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)