Brian Hanson
1eb8d41454
- Fan controller: allow full 100% fan when offroad temp >= 75°C (startup cooling) - ModelFps memory param: modeld publishes actual FPS (20 or 4) so downstream consumers can adjust frame-rate-dependent logic - Longitudinal planner: dynamically adjusts dt and v_desired_filter based on ModelFps; FCW crash_cnt threshold scales with FPS to maintain consistent 0.15s trigger window at both 20fps and 4fps - controlsd: suppress commIssue alerts for 2s after lateral control engages (FPS transition from 4->20 causes transient freq check failures) - Shutdown timer: hardcoded to 10 minutes (was 45min via FrogPilot param), screen taps reset the countdown via ShutdownTouchReset memory param, removed Shutdown Timer UI selector from ClearPilot menu Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
62 lines
2.0 KiB
Python
Executable File
62 lines
2.0 KiB
Python
Executable File
#!/usr/bin/env python3
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import os
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from abc import ABC, abstractmethod
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from openpilot.common.realtime import DT_TRML
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from openpilot.common.numpy_fast import interp
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from openpilot.common.swaglog import cloudlog
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from openpilot.selfdrive.controls.lib.pid import PIDController
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BENCH_MODE = os.environ.get("BENCH_MODE") == "1"
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class BaseFanController(ABC):
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@abstractmethod
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def update(self, cur_temp: float, ignition: bool, standstill: bool = False) -> int:
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pass
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class TiciFanController(BaseFanController):
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def __init__(self) -> None:
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super().__init__()
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cloudlog.info("Setting up TICI fan handler")
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self.last_ignition = False
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self.controller = PIDController(k_p=0, k_i=4e-3, k_f=1, rate=(1 / DT_TRML))
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def update(self, cur_temp: float, ignition: bool, standstill: bool = False) -> int:
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# CLEARPILOT: bench mode always uses normal onroad fan range (30-100%)
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if BENCH_MODE and ignition:
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self.controller.neg_limit = -100
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self.controller.pos_limit = -30
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# CLEARPILOT: at standstill below 74°C, clamp to 0-30% (quiet)
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# at standstill above 74°C, allow full 0-100% range
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elif ignition and standstill and cur_temp < 74:
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self.controller.neg_limit = -30
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self.controller.pos_limit = 0
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elif ignition and standstill:
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self.controller.neg_limit = -100
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self.controller.pos_limit = 0
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elif ignition:
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self.controller.neg_limit = -100
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self.controller.pos_limit = -15
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# CLEARPILOT: offroad but overheating (startup cooling) — full fan range
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elif cur_temp >= 75:
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self.controller.neg_limit = -100
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self.controller.pos_limit = 0
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else:
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self.controller.neg_limit = -30
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self.controller.pos_limit = 0
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if ignition != self.last_ignition:
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self.controller.reset()
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error = 70 - cur_temp
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fan_pwr_out = -int(self.controller.update(
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error=error,
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feedforward=interp(cur_temp, [60.0, 100.0], [0, -100])
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))
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self.last_ignition = ignition
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return fan_pwr_out
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