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firestar5683
2026-05-04 13:36:11 -05:00
parent 3f3a63a14b
commit 1fd3f2cb9d
2 changed files with 10 additions and 10 deletions
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selfdrive/controls/lib/latcontrol_torque.py
+8 -8
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@@ -223,7 +223,7 @@ GENESIS_G90_UNWIND_FRICTION_REDUCTION_RIGHT = 0.22
IONIQ_6_FF_GAIN_LEFT = 0.040
IONIQ_6_FF_GAIN_RIGHT = 0.000
IONIQ_6_BASE_LAT_ACCEL_FACTOR_MULT = 1.23
IONIQ_6_BASE_FRICTION_THRESHOLD = 0.35
IONIQ_6_BASE_FRICTION_THRESHOLD = 0.36
IONIQ_6_FF_ONSET = 0.10
IONIQ_6_FF_ONSET_WIDTH = 0.04
IONIQ_6_FF_CUTOFF = 0.48
@@ -232,9 +232,9 @@ IONIQ_6_TRANSITION_SPEED = 10.0
IONIQ_6_PHASE_SCALE = 0.10
IONIQ_6_TURN_IN_BOOST_LEFT = 1.14
IONIQ_6_TURN_IN_BOOST_RIGHT = 1.18
IONIQ_6_UNWIND_TAPER_LEFT = 1.84
IONIQ_6_UNWIND_TAPER_RIGHT = 4.10
IONIQ_6_FRICTION_MULT = 0.970
IONIQ_6_UNWIND_TAPER_LEFT = 1.92
IONIQ_6_UNWIND_TAPER_RIGHT = 4.35
IONIQ_6_FRICTION_MULT = 0.965
IONIQ_6_FRICTION_LAT_RISE = 0.20
IONIQ_6_FRICTION_JERK_RISE = 0.24
IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.38
@@ -269,10 +269,10 @@ IONIQ_6_DIRECTIONAL_TAPER_UNWIND_FLOOR_LEFT = 0.10
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_FLOOR_RIGHT = 0.04
IONIQ_6_HEAVY_DIRECTIONAL_TAPER_LAT_START = 0.95
IONIQ_6_HEAVY_DIRECTIONAL_TAPER_LAT_WIDTH = 0.10
IONIQ_6_HEAVY_DIRECTIONAL_TAPER_BASE_LEFT = 0.10
IONIQ_6_HEAVY_DIRECTIONAL_TAPER_BASE_RIGHT = 0.18
IONIQ_6_HEAVY_DIRECTIONAL_TAPER_UNWIND_LEFT = 0.35
IONIQ_6_HEAVY_DIRECTIONAL_TAPER_UNWIND_RIGHT = 0.55
IONIQ_6_HEAVY_DIRECTIONAL_TAPER_BASE_LEFT = 0.12
IONIQ_6_HEAVY_DIRECTIONAL_TAPER_BASE_RIGHT = 0.22
IONIQ_6_HEAVY_DIRECTIONAL_TAPER_UNWIND_LEFT = 0.42
IONIQ_6_HEAVY_DIRECTIONAL_TAPER_UNWIND_RIGHT = 0.70
IONIQ_6_OUTPUT_TAPER_SPEED = 8.5
IONIQ_6_OUTPUT_TAPER_SPEED_WIDTH = 2.5
IONIQ_6_OUTPUT_CENTER_TAPER_BLEND = 0.90
selfdrive/controls/tests/test_latcontrol.py
+2 -2
View File
@@ -263,7 +263,7 @@ class TestLatControl:
assert get_ioniq_6_output_taper_scale(-1.2, 0.7, 25.0) <= get_ioniq_6_output_taper_scale(-1.2, 0.0, 25.0)
def test_ioniq_6_friction_threshold_curve(self):
base = max(get_friction_threshold(6.0), 0.35)
base = max(get_friction_threshold(6.0), 0.36)
left_turn_in = get_ioniq_6_friction_threshold(6.0, 0.5, 0.8)
right_turn_in = get_ioniq_6_friction_threshold(6.0, -0.5, -0.8)
left_unwind = get_ioniq_6_friction_threshold(6.0, 0.5, -0.8)
@@ -271,7 +271,7 @@ class TestLatControl:
assert max(left_turn_in, right_turn_in) < base
assert left_unwind >= base
assert right_unwind >= base
assert get_ioniq_6_friction_threshold(25.0, 0.0, 0.0) >= 0.35
assert get_ioniq_6_friction_threshold(25.0, 0.0, 0.0) >= 0.36
def test_ioniq_6_friction_scale_curve(self):
base = get_ioniq_6_friction_scale(25.0, 0.5, 0.8)