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Preserve historical Ioniq 6 replay calibration references

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firestar5683
2026-11-11 11:07:32 -06:00
parent b70f2f5980
commit 72f17eeaa4
2 changed files with 9 additions and 2 deletions
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openpilot/starpilot/flm/tests/test_controller_replay.py
+8 -1
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@@ -1,4 +1,8 @@
"""Replay-only Ioniq 6 FLM controller seam; no production profile selection."""
"""Replay-only Ioniq 6 FLM controller seam; no production profile selection.
Historical vectors retain their original calibration; the highway retune has
separate current-controller coverage in test_ioniq6_policy.
"""
import json
from pathlib import Path
@@ -122,6 +126,7 @@ class TestIoniq6ControllerReplay(unittest.TestCase):
expected = _GOLDEN["cases"][f"{firmware}_{mode}"]
_assert_rows(self, actual, expected)
@mock.patch("openpilot.starpilot.lateral.ioniq6_policy.IONIQ_6_2025_HIGHWAY_FRICTION_THRESHOLD_INCREASE", 0.0)
def test_extended_frozen_filter_limit_override_and_reset_trace(self):
self.assertEqual(_EXTENDED["sourceCommit"], "678af783")
self.assertEqual(_EXTENDED["controllerSha256"], _GOLDEN["controllerSha256"])
@@ -141,6 +146,7 @@ class TestIoniq6ControllerReplay(unittest.TestCase):
expected = _EXTENDED["cases"][f"{firmware}_{mode}"]
_assert_rows(self, actual, expected)
@mock.patch("openpilot.starpilot.lateral.ioniq6_policy.IONIQ_6_2025_HIGHWAY_FRICTION_THRESHOLD_INCREASE", 0.0)
def test_actual_torque_parameter_update_recalculates_frozen_pid_limits(self):
self.assertEqual(_LIVE["sourceControllerSha256"], _GOLDEN["controllerSha256"])
self.assertEqual(_LIVE["fields"], _GOLDEN["fields"])
@@ -159,6 +165,7 @@ class TestIoniq6ControllerReplay(unittest.TestCase):
actual = _trace(controller, cp, _EXTENDED["sequence"], historical_friction=True)
_assert_rows(self, actual, expected["rows"])
@mock.patch("openpilot.starpilot.lateral.ioniq6_policy.IONIQ_6_2025_HIGHWAY_FRICTION_THRESHOLD_INCREASE", 0.0)
def test_guarded_extended_trace_preserves_model_pid_inputs_and_manual_surface(self):
for firmware, fw in (("2023", False), ("2025", True)):
for mode in ("default", "tuned"):
prebuilt.json
+1 -1
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@@ -1 +1 @@
{"protected_inventory_sha256": "e2a34c53b21d7fe71b765a7f4889f8139ee4aa3a0c4d25c3bd41cf195ed94aa0", "schema_version": 1}
{"protected_inventory_sha256": "ee15c226143b2657af99ddb3d933ff02935b628347f71eda12bd3610590dcc10", "schema_version": 1}