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ain't no test shoooo

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firestar5683
2026-05-03 22:05:13 -05:00
parent 24af3405f2
commit 6764db8b3b
1 changed files with 3 additions and 3 deletions
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selfdrive/controls/lib/latcontrol_torque.py
+3 -3
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@@ -1051,11 +1051,11 @@ class LatControlTorque(LatControl):
bolt_2018_2021_tuned_path_active = self.is_bolt_2018_2021
volt_standard_test_active = self.is_volt_standard and volt_standard_lateral_testing_ground_active()
genesis_g90_test_active = self.is_genesis_g90 and genesis_g90_lateral_testing_ground_active()
ioniq_6_test_active = self.is_ioniq_6
ioniq_6_active = self.is_ioniq_6
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
ioniq_6_center_taper = get_ioniq_6_center_taper_scale(setpoint, CS.vEgo) if ioniq_6_test_active else 1.0
ioniq_6_center_taper = get_ioniq_6_center_taper_scale(setpoint, CS.vEgo) if ioniq_6_active else 1.0
friction_threshold = get_friction_threshold(CS.vEgo)
friction_scale = 1.0
if bolt_2022_2023_tuned_path_active:
@@ -1074,7 +1074,7 @@ class LatControlTorque(LatControl):
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)
friction_scale = get_genesis_g90_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)
elif ioniq_6_test_active:
elif ioniq_6_active:
ff *= get_ioniq_6_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo) * ioniq_6_center_taper
friction_threshold = get_ioniq_6_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk) / max(ioniq_6_center_taper, 1e-3)
friction_scale = get_ioniq_6_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)