diff --git a/system/hardware/fan_controller.py b/system/hardware/fan_controller.py index eafde599a..596d1827e 100755 --- a/system/hardware/fan_controller.py +++ b/system/hardware/fan_controller.py @@ -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]) ))