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Ioniq 6 Long Tune

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firestar5683
2026-04-27 13:05:38 -05:00
parent 43a5c09412
commit e24520254b
6 changed files with 218 additions and 15 deletions
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selfdrive/controls/tests/test_latcontrol.py
+9 -2
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@@ -32,6 +32,7 @@ from openpilot.selfdrive.controls.lib.latcontrol_torque import (
get_genesis_g90_friction_threshold,
get_ioniq_6_center_taper_scale,
get_ioniq_6_directional_taper_scale,
get_ioniq_6_output_taper_scale,
get_ioniq_6_ff_scale,
get_ioniq_6_friction_scale,
get_ioniq_6_friction_threshold,
@@ -182,7 +183,7 @@ class TestLatControl:
def test_genesis_g90_ff_scale_curve(self):
assert get_genesis_g90_ff_scale(0.0, 0.0, 20.0) == 1.0
assert get_genesis_g90_ff_scale(-0.5, 0.0, 20.0) > get_genesis_g90_ff_scale(0.5, 0.0, 20.0)
assert get_genesis_g90_ff_scale(0.5, 0.0, 20.0) > get_genesis_g90_ff_scale(-0.5, 0.0, 20.0)
assert get_genesis_g90_ff_scale(0.6, 0.7, 8.0) > get_genesis_g90_ff_scale(0.6, 0.0, 8.0) > get_genesis_g90_ff_scale(0.6, -0.7, 8.0)
assert get_genesis_g90_ff_scale(-0.6, -0.7, 8.0) > get_genesis_g90_ff_scale(-0.6, 0.0, 8.0) > get_genesis_g90_ff_scale(-0.6, 0.7, 8.0)
assert get_genesis_g90_ff_scale(2.0, 0.0, 20.0) < get_genesis_g90_ff_scale(0.8, 0.0, 20.0)
@@ -218,7 +219,13 @@ class TestLatControl:
assert get_ioniq_6_directional_taper_scale(0.0, 0.0) == 1.0
assert get_ioniq_6_directional_taper_scale(-0.5, 0.0) < get_ioniq_6_directional_taper_scale(0.5, 0.0) < 1.0
assert get_ioniq_6_directional_taper_scale(-0.5, 0.7) < get_ioniq_6_directional_taper_scale(-0.5, 0.0)
assert get_ioniq_6_directional_taper_scale(1.2, 0.0) > 0.98
assert get_ioniq_6_directional_taper_scale(1.2, 0.0) > 0.96
def test_ioniq_6_output_taper_curve(self):
assert get_ioniq_6_output_taper_scale(0.0, 0.0, 25.0) < get_ioniq_6_output_taper_scale(0.0, 0.0, 8.0) <= 1.0
assert get_ioniq_6_output_taper_scale(-0.5, 0.0, 25.0) < get_ioniq_6_output_taper_scale(0.5, 0.0, 25.0) < 1.0
assert get_ioniq_6_output_taper_scale(-0.5, 0.7, 25.0) < get_ioniq_6_output_taper_scale(-0.5, 0.0, 25.0)
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)