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Ford: test angle measurement (#1396)

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* test angle meas readback (ensures speed and yaw rate are used properly)

* revert

* rm

* tuple

* temp

* clean up

* stash

* Revert "stash"

This reverts commit cab96b3e2b.

* use global

* test negative

* name
This commit is contained in:
Shane Smiskol
2023-05-03 21:37:04 +00:00
committed by GitHub
parent 4b04275514
commit 776bb69945
1 changed files with 19 additions and 0 deletions
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19
tests/safety/test_ford.py
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@@ -206,6 +206,25 @@ class TestFordSafety(common.PandaSafetyTest):
within_delta = abs(speed - speed_2) <= self.MAX_SPEED_DELTA
self.assertEqual(self.safety.get_controls_allowed(), within_delta)
def test_angle_measurements(self):
"""Tests rx hook correctly parses the curvature measurement from the vehicle speed and yaw rate"""
for speed in np.arange(0.5, 40, 0.5):
for curvature in np.arange(0, self.MAX_CURVATURE * 2, 2e-3):
self._rx(self._speed_msg(speed))
for c in (curvature, -curvature, 0, 0, 0, 0):
self._rx(self._yaw_rate_msg(c, speed))
self.assertEqual(self.safety.get_angle_meas_min(), round(-curvature * self.DEG_TO_CAN))
self.assertEqual(self.safety.get_angle_meas_max(), round(curvature * self.DEG_TO_CAN))
self._rx(self._yaw_rate_msg(0, speed))
self.assertEqual(self.safety.get_angle_meas_min(), round(-curvature * self.DEG_TO_CAN))
self.assertEqual(self.safety.get_angle_meas_max(), 0)
self._rx(self._yaw_rate_msg(0, speed))
self.assertEqual(self.safety.get_angle_meas_min(), 0)
self.assertEqual(self.safety.get_angle_meas_max(), 0)
def test_steer_allowed(self):
path_offsets = np.arange(-5.12, 5.11, 1).round()
path_angles = np.arange(-0.5, 0.5235, 0.1).round(1)