mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-19 06:33:57 +08:00
fe0bcdaef6
* 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
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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