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add some sanity checks on returned params

albatross
Willem Melching 2020-05-30 17:15:41 -07:00
parent b5a2cec913
commit 4fcf47812b
1 changed files with 11 additions and 0 deletions
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11
selfdrive/car/tests/test_car_interfaces.py
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@ -30,6 +30,17 @@ class TestCarInterfaces(unittest.TestCase):
assert car_params
assert car_interface
self.assertGreater(car_params.mass, 1)
self.assertGreater(car_params.steerRateCost, 1e-3)
tuning = car_params.lateralTuning.which()
if tuning == 'pid':
self.assertTrue(len(car_params.lateralTuning.pid.kpV))
elif tuning == 'lqr':
self.assertTrue(len(car_params.lateralTuning.lqr.a))
elif tuning == 'indi':
self.assertGreater(car_params.lateralTuning.indi.outerLoopGain, 1e-3)
# Run car interface
CC = car.CarControl.new_message()
for _ in range(10):