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firestar5683
18 lines
822 B
Python
18 lines
822 B
Python
from opendbc.car.hyundai.values import CAR as HYUNDAI_CAR
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from openpilot.starpilot.controls.lib.neural_network_feedforward import (
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DEFAULT_NNFF_LAT_JERK_FRICTION_FACTOR,
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PALISADE_NNFF_LAT_JERK_FRICTION_FACTOR,
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get_nnff_lat_jerk_friction_factor,
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)
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def test_palisade_nnff_jerk_friction_factor_is_damped_for_bumps():
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assert get_nnff_lat_jerk_friction_factor(HYUNDAI_CAR.HYUNDAI_PALISADE_2023) == PALISADE_NNFF_LAT_JERK_FRICTION_FACTOR
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assert PALISADE_NNFF_LAT_JERK_FRICTION_FACTOR < DEFAULT_NNFF_LAT_JERK_FRICTION_FACTOR
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def test_other_nnff_cars_keep_default_jerk_friction_factor():
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assert get_nnff_lat_jerk_friction_factor(HYUNDAI_CAR.HYUNDAI_SONATA) == DEFAULT_NNFF_LAT_JERK_FRICTION_FACTOR
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assert get_nnff_lat_jerk_friction_factor(HYUNDAI_CAR.HYUNDAI_PALISADE) == DEFAULT_NNFF_LAT_JERK_FRICTION_FACTOR
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