sadmen
/
openpilot_comma
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

test lateral limits: remove Konas from blacklist (#27424)

Browse Source 
* remove konas from blacklist

* update measured accel

* remove

* no longer needed
old-commit-hash: 8b8c4d810f
beeps
Shane Smiskol 2 years ago committed by GitHub
parent 01a5616f82
commit 0759da6d09
2 changed files with 1 additions and 13 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 12
      selfdrive/car/tests/test_lateral_limits.py
  2. 2
      selfdrive/car/torque_data/params.yaml

12
selfdrive/car/tests/test_lateral_limits.py
Unescape View File

@ -10,7 +10,6 @@ from common.realtime import DT_CTRL
from selfdrive.car.car_helpers import interfaces from selfdrive.car.car_helpers import interfaces
from selfdrive.car.fingerprints import all_known_cars from selfdrive.car.fingerprints import all_known_cars
from selfdrive.car.interfaces import get_torque_params from selfdrive.car.interfaces import get_torque_params
from selfdrive.car.hyundai.values import CAR as HYUNDAI
CAR_MODELS = all_known_cars() CAR_MODELS = all_known_cars()
@ -22,14 +21,6 @@ MAX_LAT_ACCEL = 3.0 # m/s^2
# jerk is measured over half a second # jerk is measured over half a second
JERK_MEAS_FRAMES = 0.5 / DT_CTRL JERK_MEAS_FRAMES = 0.5 / DT_CTRL
# TODO: update the max measured lateral accel for these cars
ABOVE_LIMITS_CARS = [
HYUNDAI.KONA_EV,
HYUNDAI.KONA_HEV,
HYUNDAI.KONA,
HYUNDAI.KONA_EV_2022,
]
car_model_jerks: DefaultDict[str, Dict[str, float]] = defaultdict(dict) car_model_jerks: DefaultDict[str, Dict[str, float]] = defaultdict(dict)
@ -52,9 +43,6 @@ class TestLateralLimits(unittest.TestCase):
if CP.notCar: if CP.notCar:
raise unittest.SkipTest raise unittest.SkipTest
if CP.carFingerprint in ABOVE_LIMITS_CARS:
raise unittest.SkipTest
CarControllerParams = importlib.import_module(f'selfdrive.car.{CP.carName}.values').CarControllerParams CarControllerParams = importlib.import_module(f'selfdrive.car.{CP.carName}.values').CarControllerParams
cls.control_params = CarControllerParams(CP) cls.control_params = CarControllerParams(CP)
cls.torque_params = get_torque_params(cls.car_model) cls.torque_params = get_torque_params(cls.car_model)

2
selfdrive/car/torque_data/params.yaml
Unescape View File

@ -30,7 +30,7 @@ HYUNDAI IONIQ 5 2022: [3.172929, 2.713050, 0.096019]
HYUNDAI IONIQ ELECTRIC LIMITED 2019: [1.7662975472852054, 1.613755614526594, 0.17087579756306276] HYUNDAI IONIQ ELECTRIC LIMITED 2019: [1.7662975472852054, 1.613755614526594, 0.17087579756306276]
HYUNDAI IONIQ PHEV 2020: [3.2928700076638537, 2.1193482926455656, 0.12463700961468778] HYUNDAI IONIQ PHEV 2020: [3.2928700076638537, 2.1193482926455656, 0.12463700961468778]
HYUNDAI IONIQ PLUG-IN HYBRID 2019: [2.970807902012267, 1.6312321830002083, 0.1088964990357482] HYUNDAI IONIQ PLUG-IN HYBRID 2019: [2.970807902012267, 1.6312321830002083, 0.1088964990357482]
HYUNDAI KONA ELECTRIC 2019: [3.078814714619148, 3.2961956260770484, 0.12359762054065548] HYUNDAI KONA ELECTRIC 2019: [3.078814714619148, 2.307336938253934, 0.12359762054065548]
HYUNDAI PALISADE 2020: [2.544642494803999, 1.8721703683337008, 0.1301424599248651] HYUNDAI PALISADE 2020: [2.544642494803999, 1.8721703683337008, 0.1301424599248651]
HYUNDAI SANTA FE 2019: [3.0787027729757632, 2.6173437483495565, 0.1207019341823945] HYUNDAI SANTA FE 2019: [3.0787027729757632, 2.6173437483495565, 0.1207019341823945]
HYUNDAI SANTA FE HYBRID 2022: [3.501877602644835, 2.729064118456137, 0.10384068104538963] HYUNDAI SANTA FE HYBRID 2022: [3.501877602644835, 2.729064118456137, 0.10384068104538963]

Write Preview
Loading…
Cancel
Save