mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-20 13:43:55 +08:00
2174005f05
* Initial commit
* Fix bugs
* Need more torque rate
* Cleanup cray cray control
* Write nicely
* Chiiil
* Not relevant for cray cray control
* Do some logging
* Seems like it has more torque than I thought
* Bit more feedforward
* Tune change
* Retune
* Retune
* Little more chill
* Add coroll
* Add corolla
* Give craycray a good name
* Update to proper logging
* D to the PI
* Should be in radians
* Add d
* Start oscillations
* Add D term
* Only change torque rate limits for new tune
* Add d logging
* Should be enough
* Wrong sign in D
* Downtune a little
* Needed to prevent faults
* Add lqr rav4 to tune
* Try derivative again
* Data based retune
* Data based retune
* add friction compensation
* Doesnt need too much P with friction comp
* remove lqr
* Remove kd
* Fix tests
* fix tests
* Too much error
* Get roll induced error under 1cm/deg
* Too much jitter
* Do roll comp
* Add ki
* Final update
* Update refs
* Cleanup latcontrol_torque a little more
old-commit-hash: fe0bcdaef6
45 lines
1.5 KiB
Python
Executable File
45 lines
1.5 KiB
Python
Executable File
#!/usr/bin/env python3
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import unittest
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from parameterized import parameterized
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from cereal import car, log
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from selfdrive.car.car_helpers import interfaces
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from selfdrive.car.honda.values import CAR as HONDA
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from selfdrive.car.toyota.values import CAR as TOYOTA
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from selfdrive.car.nissan.values import CAR as NISSAN
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from selfdrive.controls.lib.latcontrol_pid import LatControlPID
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from selfdrive.controls.lib.latcontrol_torque import LatControlTorque
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from selfdrive.controls.lib.latcontrol_indi import LatControlINDI
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from selfdrive.controls.lib.latcontrol_angle import LatControlAngle
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from selfdrive.controls.lib.vehicle_model import VehicleModel
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class TestLatControl(unittest.TestCase):
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@parameterized.expand([(HONDA.CIVIC, LatControlPID), (TOYOTA.RAV4, LatControlTorque), (TOYOTA.PRIUS, LatControlINDI), (NISSAN.LEAF, LatControlAngle)])
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def test_saturation(self, car_name, controller):
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CarInterface, CarController, CarState = interfaces[car_name]
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CP = CarInterface.get_params(car_name)
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CI = CarInterface(CP, CarController, CarState)
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VM = VehicleModel(CP)
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controller = controller(CP, CI)
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CS = car.CarState.new_message()
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CS.vEgo = 30
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last_actuators = car.CarControl.Actuators.new_message()
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params = log.LiveParametersData.new_message()
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for _ in range(1000):
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_, _, lac_log = controller.update(True, CS, CP, VM, params, last_actuators, 1, 0)
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self.assertTrue(lac_log.saturated)
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if __name__ == "__main__":
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unittest.main()
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