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firestar5683
2026-08-05 14:23:59 -05:00
parent d50e0ebd4f
commit 474c4ff01e
4 changed files with 58 additions and 85 deletions
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selfdrive/controls/lib/latcontrol_vehicle_tunes.py
+1 -1
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@@ -883,7 +883,7 @@ KONA_NON_SCC_TRANSITION_JERK_ONSET = 0.35
KONA_NON_SCC_TRANSITION_JERK_FULL = 1.20
KONA_NON_SCC_TRANSITION_LAT_FADE_START = 0.45
KONA_NON_SCC_TRANSITION_LAT_FADE_END = 1.60
KONA_NON_SCC_CENTER_TAPER_MAX = 0.14
KONA_NON_SCC_CENTER_TAPER_MAX = 0.20
KONA_NON_SCC_CENTER_TAPER_LAT = 0.28
KONA_NON_SCC_CENTER_TAPER_SPEED_ONSET = 12.0
KONA_NON_SCC_CENTER_TAPER_SPEED_FULL = 24.0
selfdrive/controls/tests/test_latcontrol.py
+1 -1
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@@ -838,7 +838,7 @@ class TestLatControl:
def test_kona_non_scc_center_taper_curve(self):
assert get_kona_non_scc_center_taper_scale(0.0, 10.0) == pytest.approx(1.0)
assert get_kona_non_scc_center_taper_scale(0.0, 25.0) == pytest.approx(0.86)
assert get_kona_non_scc_center_taper_scale(0.0, 25.0) == pytest.approx(0.80)
assert get_kona_non_scc_center_taper_scale(0.28, 25.0) == pytest.approx(1.0)
assert get_kona_non_scc_center_taper_scale(0.10, 25.0) < get_kona_non_scc_center_taper_scale(0.10, 15.0)