From 45996b2c65555116c547eb0b11e33bd439340844 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 15 Feb 2023 16:27:00 -0800 Subject: [PATCH] Car interfaces: assert reasonable centerToFront range (#27356) * assert reasonable centerToFront values * comment * fix Bolt centerToFront * Update ref_commit old-commit-hash: 89934b35d04291384b7a287a41ce49905f321167 --- selfdrive/car/gm/interface.py | 2 +- selfdrive/car/tests/test_car_interfaces.py | 3 ++- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 4 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 104cb8fbd8..71e1ad4018 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -213,7 +213,7 @@ class CarInterface(CarInterfaceBase): ret.mass = 1669. + STD_CARGO_KG ret.wheelbase = 2.63779 ret.steerRatio = 16.8 - ret.centerToFront = 2.15 # measured + ret.centerToFront = ret.wheelbase * 0.4 tire_stiffness_factor = 1.0 ret.steerActuatorDelay = 0.12 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index 78ecbe425e..ac8213e4c1 100755 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -32,7 +32,8 @@ class TestCarInterfaces(unittest.TestCase): self.assertGreater(car_params.mass, 1) self.assertGreater(car_params.wheelbase, 0) - self.assertGreater(car_params.centerToFront, 0) + # centerToFront is center of gravity to front wheels, assert a reasonable range + self.assertTrue(car_params.wheelbase * 0.3 < car_params.centerToFront < car_params.wheelbase * 0.7) self.assertGreater(car_params.maxLateralAccel, 0) # Longitudinal sanity checks diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 85eada072e..b151a6a5ae 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -c7bb411b37ab7ff573402b6e4fa24f796cbb2ee8 \ No newline at end of file +fbb99ee7dc0336062e6785814af82e359dcdd9bf