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firestar5683
2026-05-26 22:20:19 -05:00
parent e1812ec3d7
commit f819386399
2 changed files with 9 additions and 9 deletions
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selfdrive/controls/lib/latcontrol_torque.py
+8 -8
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@@ -281,21 +281,21 @@ ELANTRA_NON_SCC_TURN_IN_BOOST_RIGHT = 0.12
ELANTRA_NON_SCC_UNWIND_TAPER_LEFT = 0.22
ELANTRA_NON_SCC_UNWIND_TAPER_RIGHT = 0.12
KIA_FORTE_BASE_LAT_ACCEL_FACTOR_MULT = 1.08
KIA_FORTE_FF_REDUCTION_LEFT = 0.08
KIA_FORTE_FF_REDUCTION_RIGHT = 0.20
KIA_FORTE_BASE_LAT_ACCEL_FACTOR_MULT = 1.10
KIA_FORTE_FF_REDUCTION_LEFT = 0.10
KIA_FORTE_FF_REDUCTION_RIGHT = 0.24
KIA_FORTE_FF_ONSET = 0.16
KIA_FORTE_FF_ONSET_WIDTH = 0.06
KIA_FORTE_FF_CUTOFF = 1.20
KIA_FORTE_FF_CUTOFF_WIDTH = 0.36
KIA_FORTE_TRANSITION_SPEED = 9.0
KIA_FORTE_PHASE_SCALE = 0.10
KIA_FORTE_TURN_IN_BOOST_LEFT = 0.06
KIA_FORTE_TURN_IN_BOOST_LEFT = 0.10
KIA_FORTE_TURN_IN_BOOST_RIGHT = 0.00
KIA_FORTE_UNWIND_TAPER_LEFT = 0.18
KIA_FORTE_UNWIND_TAPER_RIGHT = 0.08
KIA_FORTE_CENTER_TAPER_MAX = 0.11
KIA_FORTE_CENTER_TAPER_LAT = 0.14
KIA_FORTE_UNWIND_TAPER_LEFT = 0.26
KIA_FORTE_UNWIND_TAPER_RIGHT = 0.04
KIA_FORTE_CENTER_TAPER_MAX = 0.14
KIA_FORTE_CENTER_TAPER_LAT = 0.16
KIA_FORTE_CENTER_TAPER_LAT_WIDTH = 0.03
KIA_FORTE_CENTER_TAPER_SPEED = 24.0
KIA_FORTE_CENTER_TAPER_SPEED_WIDTH = 2.5
selfdrive/controls/tests/test_latcontrol.py
+1 -1
View File
@@ -527,7 +527,7 @@ 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(CP.lateralTuning.torque.latAccelFactor * 1.08)
assert controller.torque_params.latAccelFactor == pytest.approx(CP.lateralTuning.torque.latAccelFactor * 1.10)
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)