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i6 wiggle

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firestar5683
2026-05-10 10:48:58 -05:00
parent 2ca5f36590
commit 2bc5247dc0
2 changed files with 5 additions and 5 deletions
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selfdrive/controls/lib/latcontrol_torque.py
+4 -4
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@@ -281,7 +281,7 @@ IONIQ_6_TURN_IN_BOOST_LEFT = 1.58
IONIQ_6_TURN_IN_BOOST_RIGHT = 1.82
IONIQ_6_UNWIND_TAPER_LEFT = 2.84
IONIQ_6_UNWIND_TAPER_RIGHT = 6.35
IONIQ_6_FRICTION_MULT = 0.942
IONIQ_6_FRICTION_MULT = 0.928
IONIQ_6_FRICTION_LAT_RISE = 0.20
IONIQ_6_FRICTION_JERK_RISE = 0.24
IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.74
@@ -292,9 +292,9 @@ IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.40
IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.72
IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 3.10
IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 7.30
IONIQ_6_CENTER_TAPER_MAX = 0.074
IONIQ_6_CENTER_TAPER_LAT = 0.215
IONIQ_6_CENTER_TAPER_LAT_WIDTH = 0.02
IONIQ_6_CENTER_TAPER_MAX = 0.082
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_LOW_MID_CENTER_TAPER_MAX = 0.088
selfdrive/controls/tests/test_latcontrol.py
+1 -1
View File
@@ -327,7 +327,7 @@ class TestLatControl:
assert get_ioniq_6_center_taper_scale(0.0, 10.0) > get_ioniq_6_center_taper_scale(0.0, 30.0)
assert get_ioniq_6_center_taper_scale(0.0, 30.0) < get_ioniq_6_center_taper_scale(0.2, 30.0)
assert get_ioniq_6_center_taper_scale(0.0, 12.0) < get_ioniq_6_center_taper_scale(0.25, 12.0)
assert abs(get_ioniq_6_center_taper_scale(0.2, 30.0) - 1.0) < 5.5e-2
assert abs(get_ioniq_6_center_taper_scale(0.2, 30.0) - 1.0) < 7.0e-2
def test_kia_ev6_ff_scale_curve(self):
assert get_kia_ev6_ff_scale(0.0, 0.0, 20.0) == 1.0