brianhansonxyz
c2ab0fa662
Restoring the working tree to the pristine pre-Claude baseline previously preserved at /data/clearpilot (now /data/clearpilot-baseline). The prior modified-but-broken tree is snapshotted at /data/openpilot-broken-2026-05-03 and tagged here as pre-reset-2026-05-03 for reference. From here, features (UI changes, dashcam, telemetry, GPS, display modes, speed logic, standstill power saving, etc.) will be re-introduced one at a time with proper testing.
39 lines
1.1 KiB
Python
Executable File
39 lines
1.1 KiB
Python
Executable File
#!/usr/bin/env python3
|
|
from abc import ABC, abstractmethod
|
|
|
|
from openpilot.common.realtime import DT_TRML
|
|
from openpilot.common.numpy_fast import interp
|
|
from openpilot.common.swaglog import cloudlog
|
|
from openpilot.selfdrive.controls.lib.pid import PIDController
|
|
|
|
class BaseFanController(ABC):
|
|
@abstractmethod
|
|
def update(self, cur_temp: float, ignition: bool) -> int:
|
|
pass
|
|
|
|
|
|
class TiciFanController(BaseFanController):
|
|
def __init__(self) -> None:
|
|
super().__init__()
|
|
cloudlog.info("Setting up TICI fan handler")
|
|
|
|
self.last_ignition = False
|
|
self.controller = PIDController(k_p=0, k_i=4e-3, k_f=1, rate=(1 / DT_TRML))
|
|
|
|
def update(self, cur_temp: float, ignition: bool) -> int:
|
|
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 - cur_temp
|
|
fan_pwr_out = -int(self.controller.update(
|
|
error=error,
|
|
feedforward=interp(cur_temp, [60.0, 100.0], [0, -100])
|
|
))
|
|
|
|
self.last_ignition = ignition
|
|
return fan_pwr_out
|
|
|