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Summer cooling curve

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whoisdomi
2026-09-06 19:33:37 -05:00
parent 6f22a50edc
commit 2a04e4bd31
1 changed files with 8 additions and 3 deletions
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system/hardware/fan_controller.py
+8 -3
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@@ -7,7 +7,12 @@ from openpilot.common.swaglog import cloudlog
from openpilot.common.pid import PIDController
from openpilot.system.hardware import HARDWARE
OFFSET = 0
# comma 3/3X (tici/tizi) run a more aggressive, cooler-targeting curve than comma 4 (mici)
IS_MICI = HARDWARE.get_device_type() == "mici"
OFFSET = 0 if IS_MICI else -5
K_P = 0 if IS_MICI else 1.0
FF_LOW = 60.0 if IS_MICI else 55.0
FF_HIGH = 100.0 if IS_MICI else 80.0
class BaseFanController(ABC):
@abstractmethod
@@ -21,7 +26,7 @@ class TiciFanController(BaseFanController):
cloudlog.info("Setting up TICI fan handler")
self.last_ignition = False
self.controller = PIDController(k_p=0, k_i=4e-3, rate=(1 / DT_HW))
self.controller = PIDController(k_p=K_P, k_i=4e-3, rate=(1 / DT_HW))
def update(self, cur_temp: float, ignition: bool) -> int:
self.controller.pos_limit = 100 if ignition else 30
@@ -33,7 +38,7 @@ class TiciFanController(BaseFanController):
error = cur_temp - (75 + OFFSET)
fan_pwr_out = int(self.controller.update(
error=error,
feedforward=np.interp(cur_temp, [60.0 + OFFSET, 100.0 + OFFSET], [0, 100])
feedforward=np.interp(cur_temp, [FF_LOW, FF_HIGH], [0, 100])
))
self.last_ignition = ignition