arizona mode

openpilot/sunnypilot/selfdrive/controls/lib/accel_controller/constants.py

@@ -2,7 +2,7 @@ import math
 
 import numpy as np
 
-from cereal import custom
+from openpilot.cereal import custom
 
 
 AccelProfile = custom.LongitudinalPlanSP.AccelController.Profile

openpilot/sunnypilot/selfdrive/controls/lib/accel_controller/lead.py

@@ -10,7 +10,7 @@ from typing import NamedTuple
 
 import numpy as np
 
-from cereal import log
+from openpilot.cereal import log
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import (
   LongitudinalMpc, LongitudinalPlanSource, STOP_DISTANCE, T_IDXS, get_T_FOLLOW, get_stopped_equivalence_factor,
 )

openpilot/sunnypilot/selfdrive/controls/lib/accel_controller/state.py

@@ -3,7 +3,7 @@ from statistics import median
 
 import numpy as np
 
-from cereal import custom
+from openpilot.cereal import custom
 from openpilot.sunnypilot.selfdrive.controls.lib.accel_controller.constants import (
   CAP_FILTER_FRAMES, DEPARTURE_MOTION_NOISE_FLOOR, DEPARTURE_MOTION_STEP_MIN, SPEED_RELIEF_DEADBAND, STOP_HOLD_CREEP_DISTANCE,
   STOP_HOLD_CREEP_SPEED, STOP_HOLD_EXIT_FRAMES,

openpilot/sunnypilot/selfdrive/controls/lib/accel_controller/tests/test_accel_controller.py

@@ -4,7 +4,7 @@ from types import SimpleNamespace
 import numpy as np
 import pytest
 
-from cereal import log
+from openpilot.cereal import log
 from opendbc.car.interfaces import ACCEL_MAX, ACCEL_MIN
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import (

openpilot/sunnypilot/selfdrive/controls/lib/accel_controller/tests/test_accel_controller_interfaces.py

@@ -5,7 +5,7 @@ from types import SimpleNamespace
 import numpy as np
 import pytest
 
-from cereal import custom, log, messaging
+from openpilot.cereal import custom, log, messaging
 from opendbc.car.interfaces import ACCEL_MAX, ACCEL_MIN
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner

openpilot/sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py

@@ -1,7 +1,6 @@
 import pytest
 from openpilot.cereal import log, custom
 from openpilot.common.params import Params
-
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController, LANE_CHANGE_SPEED_MIN
 from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeMode
@@ -116,4 +115,3 @@ def test_desire_helper_integration(carstate, lateral_active, lane_change_prob, e
     dh.update(carstate, lateral_active, lane_change_prob,
               left_edge_detected=relc.left_edge_detected, right_edge_detected=relc.right_edge_detected)
   assert dh.desire == expected_desire  # The first four tests were unit tests to test the controller, where this tests the integration in desire helpers
-

openpilot/sunnypilot/selfdrive/test/longitudinal_maneuvers/plant.py

@@ -14,7 +14,7 @@ from typing import Any
 
 import numpy as np
 
-from cereal import log
+from openpilot.cereal import log
 import cereal.messaging as messaging
 from openpilot.common.realtime import DT_MDL, Ratekeeper
 from openpilot.selfdrive.modeld.constants import ModelConstants

openpilot/system/hardware/fan_controller.py

@@ -15,8 +15,13 @@ class FanController:
     self.controller = PIDController(k_p=0, k_i=4e-3, rate=rate)
 
   def update(self, cur_temp: float, ignition: bool) -> int:
-    self.controller.pos_limit = 100 if ignition else 30
-    self.controller.neg_limit = 30 if ignition else 0
+    if ignition:
+      # always run fan at max onroad, prioritize cooling over noise
+      self.last_ignition = ignition
+      return 100
+
+    self.controller.pos_limit = 30
+    self.controller.neg_limit = 0
 
     if ignition != self.last_ignition:
       self.controller.reset()