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firestar5683
2026-05-14 10:08:41 -05:00
parent c7c10822fb
commit 1729d3cda3
2 changed files with 6 additions and 4 deletions
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selfdrive/controls/lib/latcontrol_torque.py
+4 -4
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@@ -334,8 +334,8 @@ IONIQ_6_CENTER_TAPER_LAT = 0.24
IONIQ_6_CENTER_TAPER_LAT_WIDTH = 0.025
IONIQ_6_CENTER_TAPER_SPEED = 18.0
IONIQ_6_CENTER_TAPER_SPEED_WIDTH = 2.5
IONIQ_6_HIGHWAY_CENTER_TAPER_MAX = 0.022
IONIQ_6_HIGHWAY_CENTER_TAPER_LAT = 0.14
IONIQ_6_HIGHWAY_CENTER_TAPER_MAX = 0.030
IONIQ_6_HIGHWAY_CENTER_TAPER_LAT = 0.10
IONIQ_6_HIGHWAY_CENTER_TAPER_LAT_WIDTH = 0.03
IONIQ_6_HIGHWAY_CENTER_TAPER_SPEED = 26.0
IONIQ_6_HIGHWAY_CENTER_TAPER_SPEED_WIDTH = 1.8
@@ -356,8 +356,8 @@ IONIQ_6_DIRECTIONAL_TAPER_FLOOR_LEFT = 0.48
IONIQ_6_DIRECTIONAL_TAPER_FLOOR_RIGHT = 0.52
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_FLOOR_LEFT = 0.10
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_FLOOR_RIGHT = 0.04
IONIQ_6_DIRECTIONAL_TAPER_JERK_ONSET = 0.35
IONIQ_6_DIRECTIONAL_TAPER_JERK_WIDTH = 0.08
IONIQ_6_DIRECTIONAL_TAPER_JERK_ONSET = 0.45
IONIQ_6_DIRECTIONAL_TAPER_JERK_WIDTH = 0.10
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
+2
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@@ -311,7 +311,9 @@ class TestLatControl:
assert get_ioniq_6_directional_taper_scale(-1.2, 0.0) < get_ioniq_6_directional_taper_scale(1.2, 0.0) < 1.0
assert get_ioniq_6_directional_taper_scale(-1.2, 0.7) <= get_ioniq_6_directional_taper_scale(-1.2, 0.0)
assert get_ioniq_6_directional_taper_scale(-1.2, 0.25) > get_ioniq_6_directional_taper_scale(-1.2, 0.7)
assert get_ioniq_6_directional_taper_scale(-1.2, 0.40) > get_ioniq_6_directional_taper_scale(-1.2, 0.7)
assert get_ioniq_6_directional_taper_scale(1.2, -0.25) > get_ioniq_6_directional_taper_scale(1.2, -0.7)
assert get_ioniq_6_directional_taper_scale(1.2, -0.40) > get_ioniq_6_directional_taper_scale(1.2, -0.7)
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