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This car b steery

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firestar5683
2026-05-03 23:51:21 -05:00
parent 3deb8fbb84
commit abd2721a15
3 changed files with 13 additions and 3 deletions
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opendbc_repo/opendbc/car/honda/tests/test_honda.py
+1 -1
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@@ -143,7 +143,7 @@ class TestHondaFingerprint:
def test_modified_civic_b_testing_ground_forces_torque(self, monkeypatch):
toggles = SimpleNamespace(force_torque_controller=False, nnff=False, nnff_lite=False)
car_fw = [CarParams.CarFw(ecu=CarParams.Ecu.eps, fwVersion=b'39990-TGG,A020\x00\x00', address=0x18DA30F1, subAddress=0)]
monkeypatch.setattr("openpilot.starpilot.common.testing_grounds.testing_ground.use", lambda slot_id, variant="B": slot_id == "8" and variant == "B")
monkeypatch.setattr("openpilot.starpilot.common.testing_grounds.is_testing_ground_active", lambda slot_id, variant="B", refresh_interval_s=0.5: slot_id == "8" and variant == "B")
CP = CarInterface.get_params(CAR.HONDA_CIVIC_BOSCH, gen_empty_fingerprint(), car_fw, False, False, False, toggles)
selfdrive/controls/lib/latcontrol_torque.py
+7 -1
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@@ -205,6 +205,8 @@ GENESIS_G90_UNWIND_FRICTION_REDUCTION_RIGHT = 0.22
IONIQ_6_FF_GAIN_LEFT = 0.040
IONIQ_6_FF_GAIN_RIGHT = 0.000
IONIQ_6_BASE_LAT_ACCEL_FACTOR_MULT = 1.15
IONIQ_6_BASE_FRICTION_THRESHOLD = 0.30
IONIQ_6_FF_ONSET = 0.10
IONIQ_6_FF_ONSET_WIDTH = 0.04
IONIQ_6_FF_CUTOFF = 0.48
@@ -731,7 +733,7 @@ def get_ioniq_6_ff_scale(desired_lateral_accel: float, desired_lateral_jerk: flo
def get_ioniq_6_friction_threshold(v_ego: float, desired_lateral_accel: float = 0.0, desired_lateral_jerk: float = 0.0) -> float:
base_threshold = get_friction_threshold(v_ego)
base_threshold = max(get_friction_threshold(v_ego), IONIQ_6_BASE_FRICTION_THRESHOLD)
transition_envelope = _ioniq_6_transition_envelope(v_ego, desired_lateral_accel, desired_lateral_jerk)
phase = _ioniq_6_transition_phase(desired_lateral_accel, desired_lateral_jerk)
turn_in_weight = max(phase, 0.0)
@@ -980,6 +982,8 @@ class LatControlTorque(LatControl):
self.torque_ff_scale_neg = 1.0
self.torque_deadzone_boost = float(getattr(self.torque_params, "kfDEPRECATED", 0.0))
self.torque_ki_mult = 1.0
if self.is_ioniq_6:
self.torque_params.latAccelFactor *= IONIQ_6_BASE_LAT_ACCEL_FACTOR_MULT
if self.is_bolt:
kp_scale = getattr(self.torque_params, "kp", getattr(self.torque_params, "kpDEPRECATED", 1.0))
ki_scale = getattr(self.torque_params, "ki", getattr(self.torque_params, "kiDEPRECATED", 1.0))
@@ -991,6 +995,8 @@ class LatControlTorque(LatControl):
self.pid._k_i = [self.pid._k_i[0], [k * self.torque_ki_mult for k in self.pid._k_i[1]]]
def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
if self.is_ioniq_6:
latAccelFactor *= IONIQ_6_BASE_LAT_ACCEL_FACTOR_MULT
self.torque_params.latAccelFactor = latAccelFactor
self.torque_params.latAccelOffset = latAccelOffset
self.torque_params.friction = friction
selfdrive/controls/tests/test_latcontrol.py
+5 -1
View File
@@ -258,7 +258,7 @@ class TestLatControl:
assert get_ioniq_6_output_taper_scale(1.2, 0.0, 25.0) > 0.94
def test_ioniq_6_friction_threshold_curve(self):
base = get_friction_threshold(6.0)
base = max(get_friction_threshold(6.0), 0.30)
left_turn_in = get_ioniq_6_friction_threshold(6.0, 0.5, 0.8)
right_turn_in = get_ioniq_6_friction_threshold(6.0, -0.5, -0.8)
left_unwind = get_ioniq_6_friction_threshold(6.0, 0.5, -0.8)
@@ -266,6 +266,7 @@ class TestLatControl:
assert max(left_turn_in, right_turn_in) < base
assert left_unwind >= base
assert right_unwind >= base
assert get_ioniq_6_friction_threshold(25.0, 0.0, 0.0) >= 0.30
def test_ioniq_6_friction_scale_curve(self):
base = get_ioniq_6_friction_scale(25.0, 0.5, 0.8)
@@ -366,6 +367,7 @@ class TestLatControl:
_, _, lac_log = controller.update(True, CS, VM, params, False, 0.0025, False, 0.2, None, None, starpilot_toggles)
assert lac_log.active
assert controller.torque_params.latAccelFactor == pytest.approx(3.0 * 1.15)
def test_ioniq_6_update_path_does_not_post_taper_output(self, monkeypatch):
base_controller, VM, CS, params, starpilot_toggles = self._build_torque_controller(HYUNDAI.HYUNDAI_IONIQ_6)
@@ -382,6 +384,8 @@ class TestLatControl:
CP = CarInterface.get_non_essential_params(HONDA.HONDA_CIVIC_BOSCH)
CP.flags |= int(HondaFlags.EPS_MODIFIED)
CP.lateralTuning.init("torque")
CP.lateralTuning.torque.latAccelFactor = 3.0
CP.lateralTuning.torque.friction = 0.1
CI = CarInterface(CP, custom.StarPilotCarParams.new_message())
controller = LatControlTorque(CP.as_reader(), CI, DT_CTRL)
VM = VehicleModel(CP)