sunnypilot v2026.002.000

version: sunnypilot v2026.002.000 (staging)
date: 2026-07-21T07:44:02
master commit: 2c334ede443d7391d27575af8c854a095ba702a8

openpilot/system/hardware/fan_controller.py

@@ -0,0 +1,28 @@
+#!/usr/bin/env python3
+import numpy as np
+
+from openpilot.common.pid import PIDController
+from openpilot.common.hardware import HARDWARE
+
+# raise fan setpoint on tici/tizi to reduce noise
+# after raising LMH threshold in AGNOS 18.1 to prevent CPU throttling
+OFFSET = 0 if HARDWARE.get_device_type() == "mici" else 5
+
+
+class FanController:
+  def __init__(self, rate: int) -> None:
+    self.last_ignition = False
+    self.controller = PIDController(k_p=0, k_i=4e-3, rate=rate)
+
+  def update(self, cur_temp: float, ignition: bool) -> int:
+    self.controller.pos_limit = 100 if ignition else 30
+    self.controller.neg_limit = 30 if ignition else 0
+
+    if ignition != self.last_ignition:
+      self.controller.reset()
+    self.last_ignition = ignition
+
+    return int(self.controller.update(
+                 error=(cur_temp - (75 + OFFSET)),  # temperature setpoint in C
+                 feedforward=np.interp(cur_temp, [60.0 + OFFSET, 100.0 + OFFSET], [0, 100])
+              ))