diff --git a/selfdrive/thermald/fan_controller.py b/selfdrive/thermald/fan_controller.py index fd9de2ac0f..b1c7013297 100644 --- a/selfdrive/thermald/fan_controller.py +++ b/selfdrive/thermald/fan_controller.py @@ -18,7 +18,7 @@ class TiciFanController(BaseFanController): cloudlog.info("Setting up TICI fan handler") self.last_ignition = False - self.controller = PIDController(k_p=0, k_i=2e-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, neg_limit=-80, pos_limit=0, rate=(1 / DT_TRML)) def update(self, max_cpu_temp: float, ignition: bool) -> int: self.controller.neg_limit = -(80 if ignition else 30) @@ -27,7 +27,7 @@ class TiciFanController(BaseFanController): if ignition != self.last_ignition: self.controller.reset() - error = 75 - max_cpu_temp + error = 70 - max_cpu_temp fan_pwr_out = -int(self.controller.update( error=error, feedforward=interp(max_cpu_temp, [60.0, 100.0], [0, -80]) diff --git a/tools/plotjuggler/layouts/thermal_debug.xml b/tools/plotjuggler/layouts/thermal_debug.xml new file mode 100644 index 0000000000..fbb89ddcf4 --- /dev/null +++ b/tools/plotjuggler/layouts/thermal_debug.xml @@ -0,0 +1,92 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +