mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-09-18 21:43:51 +08:00
whoisdomi
54 lines
2.1 KiB
Python
Executable File
54 lines
2.1 KiB
Python
Executable File
#!/usr/bin/env python3
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import numpy as np
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from abc import ABC, abstractmethod
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from openpilot.common.realtime import DT_HW
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from openpilot.common.swaglog import cloudlog
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from openpilot.common.pid import PIDController
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from openpilot.system.hardware import HARDWARE
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# comma 4 (mici) always uses the stock curve; comma 3/3X (tici/tizi) can opt into a more
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# aggressive, cooler-targeting curve via the "C3/C3X Aggressive Cooling" toggle
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IS_MICI = HARDWARE.get_device_type() == "mici"
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# original comma/sunnypilot curve: quieter on tici/tizi (higher setpoint) than on mici
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STOCK_CURVE = dict(offset=0, k_p=0, ff_low=60.0, ff_high=100.0) if IS_MICI else \
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dict(offset=5, k_p=0, ff_low=65.0, ff_high=105.0)
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AGGRESSIVE_CURVE = dict(offset=-5, k_p=1.0, ff_low=55.0, ff_high=80.0)
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class BaseFanController(ABC):
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@abstractmethod
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def update(self, cur_temp: float, ignition: bool, aggressive_cooling: bool = False) -> int:
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pass
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class TiciFanController(BaseFanController):
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def __init__(self) -> None:
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super().__init__()
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cloudlog.info("Setting up TICI fan handler")
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self.last_ignition = False
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self.last_aggressive_cooling = False
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self.controller = PIDController(k_p=STOCK_CURVE["k_p"], k_i=4e-3, rate=(1 / DT_HW))
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def update(self, cur_temp: float, ignition: bool, aggressive_cooling: bool = False) -> int:
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use_aggressive = aggressive_cooling and not IS_MICI
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curve = AGGRESSIVE_CURVE if use_aggressive else STOCK_CURVE
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self.controller.pos_limit = 100 if ignition else 30
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self.controller.neg_limit = 30 if ignition else 0
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self.controller._k_p = [[0], [curve["k_p"]]]
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if ignition != self.last_ignition or use_aggressive != self.last_aggressive_cooling:
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self.controller.reset()
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error = cur_temp - (75 + curve["offset"])
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fan_pwr_out = int(self.controller.update(
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error=error,
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feedforward=np.interp(cur_temp, [curve["ff_low"], curve["ff_high"]], [0, 100])
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))
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self.last_ignition = ignition
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self.last_aggressive_cooling = use_aggressive
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return fan_pwr_out
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