tici: allow fan to run to 100% (#28203)

selfdrive/thermald/fan_controller.py

@@ -8,7 +8,7 @@ from selfdrive.controls.lib.pid import PIDController
 
 class BaseFanController(ABC):
   @abstractmethod
-  def update(self, max_cpu_temp: float, ignition: bool) -> int:
+  def update(self, cur_temp: float, ignition: bool) -> int:
     pass
 
 
@@ -18,19 +18,19 @@ class TiciFanController(BaseFanController):
     cloudlog.info("Setting up TICI fan handler")
 
     self.last_ignition = False
-    self.controller = PIDController(k_p=0, k_i=4e-3, k_f=1, neg_limit=-80, pos_limit=0, rate=(1 / DT_TRML))
+    self.controller = PIDController(k_p=0, k_i=4e-3, k_f=1, rate=(1 / DT_TRML))
 
-  def update(self, max_cpu_temp: float, ignition: bool) -> int:
+  def update(self, cur_temp: float, ignition: bool) -> int:
-    self.controller.neg_limit = -(80 if ignition else 30)
+    self.controller.neg_limit = -(100 if ignition else 30)
     self.controller.pos_limit = -(30 if ignition else 0)
 
     if ignition != self.last_ignition:
       self.controller.reset()
 
-    error = 70 - max_cpu_temp
+    error = 70 - cur_temp
     fan_pwr_out = -int(self.controller.update(
                       error=error,
-                      feedforward=interp(max_cpu_temp, [60.0, 100.0], [0, -80])
+                      feedforward=interp(cur_temp, [60.0, 100.0], [0, -100])
                     ))
 
     self.last_ignition = ignition

selfdrive/thermald/tests/test_fan_controller.py

@@ -14,43 +14,43 @@ def patched_controller(controller_class):
 class TestFanController(unittest.TestCase):
   def wind_up(self, controller, ignition=True):
     for _ in range(1000):
-      controller.update(max_cpu_temp=100, ignition=ignition)
+      controller.update(100, ignition)
 
   def wind_down(self, controller, ignition=False):
     for _ in range(1000):
-      controller.update(max_cpu_temp=10, ignition=ignition)
+      controller.update(10, ignition)
 
   @parameterized.expand(ALL_CONTROLLERS)
   def test_hot_onroad(self, controller_class):
     controller = patched_controller(controller_class)
     self.wind_up(controller)
-    self.assertGreaterEqual(controller.update(max_cpu_temp=100, ignition=True), 70)
+    self.assertGreaterEqual(controller.update(100, True), 70)
 
   @parameterized.expand(ALL_CONTROLLERS)
   def test_offroad_limits(self, controller_class):
     controller = patched_controller(controller_class)
     self.wind_up(controller)
-    self.assertLessEqual(controller.update(max_cpu_temp=100, ignition=False), 30)
+    self.assertLessEqual(controller.update(100, False), 30)
 
   @parameterized.expand(ALL_CONTROLLERS)
   def test_no_fan_wear(self, controller_class):
     controller = patched_controller(controller_class)
     self.wind_down(controller)
-    self.assertEqual(controller.update(max_cpu_temp=10, ignition=False), 0)
+    self.assertEqual(controller.update(10, False), 0)
 
   @parameterized.expand(ALL_CONTROLLERS)
   def test_limited(self, controller_class):
     controller = patched_controller(controller_class)
-    self.wind_up(controller, ignition=True)
+    self.wind_up(controller, True)
-    self.assertGreaterEqual(controller.update(max_cpu_temp=100, ignition=True), 80)
+    self.assertEqual(controller.update(100, True), 100)
 
   @parameterized.expand(ALL_CONTROLLERS)
   def test_windup_speed(self, controller_class):
     controller = patched_controller(controller_class)
-    self.wind_down(controller, ignition=True)
+    self.wind_down(controller, True)
     for _ in range(10):
-      controller.update(max_cpu_temp=90, ignition=True)
+      controller.update(90, True)
-    self.assertGreaterEqual(controller.update(max_cpu_temp=90, ignition=True), 60)
+    self.assertGreaterEqual(controller.update(90, True), 60)
 
 if __name__ == "__main__":
   unittest.main()