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Fix lateral test initialization

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firestar5683
2026-08-06 21:46:25 -05:00
parent eac56eea22
commit 63817ce7db
2 changed files with 11 additions and 11 deletions
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selfdrive/controls/lib/latcontrol_torque.py
+10 -10
View File
@@ -97,16 +97,6 @@ class LatControlTorque(LatControl):
self.prev_desired_lateral_accel = 0.0
self.starpilot_lateral_state = custom.StarPilotLateralState.new_message()
def _clear_starpilot_lateral_state(self):
self.starpilot_lateral_state.active = False
self.starpilot_lateral_state.frictionThreshold = 0.0
self.starpilot_lateral_state.frictionScale = 0.0
self.starpilot_lateral_state.feedforward = 0.0
self.starpilot_lateral_state.frictionJerk = 0.0
self.starpilot_lateral_state.frictionJerkDeadzone = 0.0
self.starpilot_lateral_state.lowSpeedFactor = 0.0
self.starpilot_lateral_state.unwindDetected = False
self.is_bolt = CP.carFingerprint in BOLT_CARS
self.is_bolt_2022_2023 = CP.carFingerprint in BOLT_2022_2023_CARS
self.is_bolt_2018_2021 = CP.carFingerprint in BOLT_2018_2021_CARS
@@ -179,6 +169,16 @@ class LatControlTorque(LatControl):
if self.use_bolt_ki_multiplier and self.torque_ki_mult > 0.0 and self.torque_ki_mult != 1.0:
self.pid._k_i = [self.pid._k_i[0], [k * self.torque_ki_mult for k in self.pid._k_i[1]]]
def _clear_starpilot_lateral_state(self):
self.starpilot_lateral_state.active = False
self.starpilot_lateral_state.frictionThreshold = 0.0
self.starpilot_lateral_state.frictionScale = 0.0
self.starpilot_lateral_state.feedforward = 0.0
self.starpilot_lateral_state.frictionJerk = 0.0
self.starpilot_lateral_state.frictionJerkDeadzone = 0.0
self.starpilot_lateral_state.lowSpeedFactor = 0.0
self.starpilot_lateral_state.unwindDetected = False
def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
if self.is_palisade:
latAccelFactor *= PALISADE_BASE_LAT_ACCEL_FACTOR_MULT
selfdrive/controls/tests/test_latcontrol.py
+1 -1
View File
@@ -129,7 +129,7 @@ class TestLatControl:
highway_center = get_center_chatter_friction_jerk_deadzone(25.0, 0.0)
highway_curve = get_center_chatter_friction_jerk_deadzone(25.0, 0.6)
assert low_speed_center == pytest.approx(0.08)
assert low_speed_center == pytest.approx(0.096)
assert highway_center == pytest.approx(0.18)
assert highway_curve == pytest.approx(0.0)