Brian Hanson
4dae5804ab
Fan control rework (thermald → 4Hz):
- DT_TRML 0.5s → 0.25s (thermald loop + fan PID now at 4Hz)
- New clamp rules based on (gear, cruise_engaged, standstill):
parked → 0-100%
in drive + cruise engaged (any speed) → 30-100%
in drive + cruise off + standstill → 10-100%
in drive + cruise off + moving → 30-100%
- thermald now reads gearShifter (via carState) and controlsState.enabled,
passes them to fan_controller.update()
- Removed BENCH_MODE special case — new rules cover bench automatically
- Removed ignition-based branches — gear is the correct signal
System health overlay:
- Subscribed UI to peripheralState so we can read fanSpeedRpm
- Added FAN row: actual fan% (RPM / 65) to sit alongside LAG/DROP/TEMP/CPU/MEM.
Shows the real fan output vs. what the PID is asking for.
Migrate hot signals from paramsMemory to cereal (frogpilotCarControl):
- Added latRequested @3 and noLatLaneChange @4 to FrogPilotCarControl schema
- controlsd sets FPCC.latRequested / FPCC.noLatLaneChange (send-on-change
already gates the IPC)
- modeld reads from sm['frogpilotCarControl'] (added to its subscribers)
instead of paramsMemory (saves ~20 file-read syscalls/sec)
- carcontroller reads from frogpilot_variables (set in-process by controlsd)
instead of paramsMemory (saves ~100 file-read syscalls/sec in 100Hz path).
Dropped carcontroller's now-unused Params instance and import.
- UI (ui.cc, onroad.cc) reads from sm['frogpilotCarControl'].noLatLaneChange
- Removed LatRequested and no_lat_lane_change param registrations + defaults
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
59 lines
2.0 KiB
Python
Executable File
59 lines
2.0 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, standstill: bool = False,
|
|
is_parked: bool = True, cruise_engaged: bool = False) -> 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, standstill: bool = False,
|
|
is_parked: bool = True, cruise_engaged: bool = False) -> int:
|
|
# CLEARPILOT fan range rules:
|
|
# parked → 0-100% (full, no floor)
|
|
# in drive + cruise engaged (any speed, inc standstill) → 30-100%
|
|
# in drive + cruise off + standstill → 10-100%
|
|
# in drive + cruise off + moving → 30-100%
|
|
# In the PID output, neg_limit is how negative it can go (= max fan as %),
|
|
# pos_limit is how positive (= negative of min fan %).
|
|
if is_parked:
|
|
self.controller.neg_limit = -100
|
|
self.controller.pos_limit = 0
|
|
elif cruise_engaged:
|
|
self.controller.neg_limit = -100
|
|
self.controller.pos_limit = -30
|
|
elif standstill:
|
|
self.controller.neg_limit = -100
|
|
self.controller.pos_limit = -10
|
|
else:
|
|
self.controller.neg_limit = -100
|
|
self.controller.pos_limit = -30
|
|
|
|
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
|
|
|