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fan: classic fan curve for c3/c3x, keep 0.11.1 on mici

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Port min-feat/dev/fan-controller: split FanController.update() by device.
mici keeps the verbatim upstream 0.11.1 response (OFFSET == 0 there); the older
comma three / three X use the classic pre-0.11.1 curve (setpoint 75) instead of
the +5C setpoint bump, which makes them run hotter with less throttle margin.
This commit is contained in:
Rick Lan
2026-07-04 09:46:05 +08:00
parent a8272966b5
commit 5d4729de5d
1 changed files with 14 additions and 2 deletions
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system/hardware/fan_controller.py
+14 -2
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@@ -6,6 +6,7 @@ from openpilot.system.hardware import HARDWARE
# raise fan setpoint on tici/tizi to reduce noise
# after raising LMH threshold in AGNOS 18.1 to prevent CPU throttling
# (evaluates to 0 on mici, i.e. no bump)
OFFSET = 0 if HARDWARE.get_device_type() == "mici" else 5
@@ -13,6 +14,9 @@ class FanController:
def __init__(self, rate: int) -> None:
self.last_ignition = False
self.controller = PIDController(k_p=0, k_i=4e-3, rate=rate)
# dp: mici keeps the upstream 0.11.1 response; the older comma three / three X
# run hotter with the +5C bump, so they use the classic pre-0.11.1 response.
self._mici = HARDWARE.get_device_type() == "mici"
def update(self, cur_temp: float, ignition: bool) -> int:
self.controller.pos_limit = 100 if ignition else 30
@@ -22,7 +26,15 @@ class FanController:
self.controller.reset()
self.last_ignition = ignition
if self._mici:
# upstream 0.11.1 (OFFSET == 0 on mici)
return int(self.controller.update(
error=(cur_temp - (75 + OFFSET)), # temperature setpoint in C
feedforward=np.interp(cur_temp, [60.0 + OFFSET, 100.0 + OFFSET], [0, 100])
))
# classic pre-0.11.1 (comma three / three X)
return int(self.controller.update(
error=(cur_temp - (75 + OFFSET)), # temperature setpoint in C
feedforward=np.interp(cur_temp, [60.0 + OFFSET, 100.0 + OFFSET], [0, 100])
error=(cur_temp - 75), # temperature setpoint in C
feedforward=np.interp(cur_temp, [60.0, 100.0], [0, 100])
))