IQ.Pilot Release Commit @ bec7652

artifacts/package_sources/panda/tests/hitl/7_internal.py

@@ -0,0 +1,41 @@
+import time
+import pytest
+
+from panda import Panda
+
+pytestmark = [
+  pytest.mark.test_panda_types(Panda.INTERNAL_DEVICES),
+]
+
+MAX_RPM = 5000
+
+@pytest.mark.timeout(2*60)
+def test_fan_curve(p):
+  # ensure fan curve is (roughly) linear
+
+  rpms = []
+  for power in (30, 70, 100):
+    # wait until fan spins up
+    p.set_fan_power(power)
+    for _ in range(20):
+      time.sleep(1)
+      if p.get_fan_rpm() > 1000:
+        break
+    time.sleep(2)  # wait for RPM to converge
+    rpms.append(p.get_fan_rpm())
+
+  print(rpms)
+  diffs = [b - a for a, b in zip(rpms, rpms[1:])]
+  assert all(x > 0 for x in diffs), f"Fan RPMs not strictly increasing: {rpms=}"
+  assert rpms[-1] > (0.75*MAX_RPM)
+
+
+def test_fan_cooldown(p):
+  # if the fan cooldown doesn't work, we get high frequency noise on the tach line
+  # while the rotor spins down. this makes sure it never goes beyond the expected max RPM
+  p.set_fan_power(100)
+  time.sleep(3)
+  p.set_fan_power(0)
+  for _ in range(5):
+    assert p.get_fan_rpm() <= MAX_RPM*2
+    time.sleep(0.5)