Brian Hanson
b85ce8176d
- modeld: enter standby when latActive=false (not just standstill), exception for lane changes (no_lat_lane_change). Fix Python capnp property access (.latActive not getLatActive()) - controlsd: move model_suppress computation early, suppress radarFault, posenetInvalid, locationdTemporaryError, paramsdTemporaryError during model standby + 2s grace period. All cascade from modeld not publishing - dashcamd: always_run (manages own trip lifecycle), wait for valid frame dimensions before encoding (fix SIGSEGV on early start) - Fan: driving range 15-100% (was 30-100%) Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
51 lines
1.6 KiB
Python
Executable File
51 lines
1.6 KiB
Python
Executable File
#!/usr/bin/env python3
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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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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: at standstill below 74°C, clamp to 0-10% (near silent)
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# at standstill above 74°C, allow full 0-100% range
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if ignition and standstill and cur_temp < 74:
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self.controller.neg_limit = -10
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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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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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