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Volt Lat Update

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firestar5683
2026-04-20 00:15:51 -05:00
parent 174bb9f31f
commit 30f416af73
1 changed files with 4 additions and 2 deletions
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selfdrive/controls/lib/latcontrol_torque.py
+4 -2
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@@ -889,6 +889,7 @@ class LatControlTorque(LatControl):
genesis_g90_test_active = self.is_genesis_g90 and genesis_g90_lateral_testing_ground_active()
kia_ev6_test_active = self.is_kia_ev6 and kia_ev6_lateral_testing_ground_active()
volt_plexy_test_active = self.is_volt_cc and volt_plexy_lateral_testing_ground_active()
volt_standard_center_taper = get_volt_standard_center_taper_scale(setpoint, CS.vEgo) if volt_standard_test_active else 1.0
friction_threshold = get_friction_threshold(CS.vEgo)
friction_scale = 1.0
if bolt_2022_2023_tuned_path_active:
@@ -899,9 +900,10 @@ class LatControlTorque(LatControl):
friction_threshold = get_bolt_2018_2021_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
friction_scale = get_bolt_2018_2021_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)
elif volt_standard_test_active:
ff *= get_volt_standard_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo)
ff *= get_volt_standard_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo) * volt_standard_center_taper
friction_threshold = get_volt_standard_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
friction_scale = get_volt_standard_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)
friction_scale = 1.0 + ((friction_scale - 1.0) * volt_standard_center_taper)
elif genesis_g90_test_active:
ff *= get_genesis_g90_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo)
friction_threshold = get_genesis_g90_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
@@ -932,7 +934,7 @@ class LatControlTorque(LatControl):
elif bolt_2018_2021_tuned_path_active:
output_torque *= get_bolt_2018_2021_dynamic_torque_scale(setpoint, desired_lateral_jerk, CS.vEgo)
elif volt_standard_test_active:
output_torque *= get_volt_standard_center_taper_scale(setpoint, CS.vEgo)
output_torque *= volt_standard_center_taper
pid_log.active = True
pid_log.p = float(self.pid.p)