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firestar5683
2026-04-27 23:55:05 -05:00
parent 2e28374fc9
commit cb56102da7
2 changed files with 17 additions and 17 deletions
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selfdrive/controls/lib/latcontrol_torque.py
+16 -16
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@@ -147,31 +147,31 @@ BOLT_2022_2023_UNWIND_FRICTION_REDUCTION_LEFT = 0.21
BOLT_2022_2023_UNWIND_FRICTION_REDUCTION_RIGHT = 0.17
VOLT_STANDARD_LATERAL_TESTING_GROUND_ID = testing_ground.id_3
VOLT_STANDARD_FF_GAIN_LEFT = 0.07
VOLT_STANDARD_FF_GAIN_RIGHT = 0.10
VOLT_STANDARD_FF_GAIN_LEFT = 0.08
VOLT_STANDARD_FF_GAIN_RIGHT = 0.09
VOLT_STANDARD_FF_ONSET = 0.10
VOLT_STANDARD_FF_ONSET_WIDTH = 0.05
VOLT_STANDARD_FF_CUTOFF = 1.30
VOLT_STANDARD_FF_CUTOFF_WIDTH = 0.24
VOLT_STANDARD_TRANSITION_SPEED = 10.0
VOLT_STANDARD_PHASE_SCALE = 0.10
VOLT_STANDARD_TURN_IN_BOOST_LEFT = 0.12
VOLT_STANDARD_TURN_IN_BOOST_RIGHT = 0.40
VOLT_STANDARD_UNWIND_TAPER_LEFT = 0.18
VOLT_STANDARD_UNWIND_TAPER_RIGHT = 0.34
VOLT_STANDARD_TURN_IN_BOOST_LEFT = 0.14
VOLT_STANDARD_TURN_IN_BOOST_RIGHT = 0.46
VOLT_STANDARD_UNWIND_TAPER_LEFT = 0.20
VOLT_STANDARD_UNWIND_TAPER_RIGHT = 0.42
VOLT_STANDARD_FRICTION_MULT = 1.04
VOLT_STANDARD_FRICTION_LAT_RISE = 0.20
VOLT_STANDARD_FRICTION_JERK_RISE = 0.24
VOLT_STANDARD_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.06
VOLT_STANDARD_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.22
VOLT_STANDARD_UNWIND_THRESHOLD_INCREASE_LEFT = 0.08
VOLT_STANDARD_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.28
VOLT_STANDARD_TURN_IN_FRICTION_BOOST_LEFT = 0.03
VOLT_STANDARD_TURN_IN_FRICTION_BOOST_RIGHT = 0.12
VOLT_STANDARD_UNWIND_FRICTION_REDUCTION_LEFT = 0.08
VOLT_STANDARD_UNWIND_FRICTION_REDUCTION_RIGHT = 0.22
VOLT_STANDARD_CENTER_TAPER_MAX = 0.09
VOLT_STANDARD_CENTER_TAPER_LAT = 0.11
VOLT_STANDARD_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.08
VOLT_STANDARD_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.26
VOLT_STANDARD_UNWIND_THRESHOLD_INCREASE_LEFT = 0.10
VOLT_STANDARD_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.36
VOLT_STANDARD_TURN_IN_FRICTION_BOOST_LEFT = 0.04
VOLT_STANDARD_TURN_IN_FRICTION_BOOST_RIGHT = 0.14
VOLT_STANDARD_UNWIND_FRICTION_REDUCTION_LEFT = 0.10
VOLT_STANDARD_UNWIND_FRICTION_REDUCTION_RIGHT = 0.30
VOLT_STANDARD_CENTER_TAPER_MAX = 0.11
VOLT_STANDARD_CENTER_TAPER_LAT = 0.12
VOLT_STANDARD_CENTER_TAPER_LAT_WIDTH = 0.02
VOLT_STANDARD_CENTER_TAPER_SPEED = 20.0
VOLT_STANDARD_CENTER_TAPER_SPEED_WIDTH = 2.5
selfdrive/controls/tests/test_latcontrol.py
+1 -1
View File
@@ -213,7 +213,7 @@ class TestLatControl:
assert get_ioniq_6_ff_scale(0.4, 0.0, 20.0) > get_ioniq_6_ff_scale(-0.4, 0.0, 20.0)
assert get_ioniq_6_ff_scale(0.4, 0.7, 8.0) > get_ioniq_6_ff_scale(0.4, 0.0, 8.0) > get_ioniq_6_ff_scale(0.4, -0.7, 8.0)
assert get_ioniq_6_ff_scale(-0.4, -0.7, 8.0) >= get_ioniq_6_ff_scale(-0.4, 0.0, 8.0) > get_ioniq_6_ff_scale(-0.4, 0.7, 8.0)
assert get_ioniq_6_ff_scale(1.2, 0.0, 20.0) < get_ioniq_6_ff_scale(0.4, 0.0, 20.0)
assert get_ioniq_6_ff_scale(0.4, 0.0, 20.0) < get_ioniq_6_ff_scale(1.2, 0.0, 20.0) < 1.0
def test_ioniq_6_directional_taper_curve(self):
assert get_ioniq_6_directional_taper_scale(0.0, 0.0) == 1.0