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Pause lateral control with turn signal

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Added toggle to pause lateral control when a turn signal is active below a set speed.
This commit is contained in:
FrogAi
2024-02-27 16:34:47 -07:00
parent 1fa53eb8b2
commit 1a33c93961
5 changed files with 14 additions and 2 deletions
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selfdrive/frogpilot/assets/toggle_icons/icon_pause_lane.png Normal file
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8
selfdrive/frogpilot/ui/control_settings.cc
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@@ -53,6 +53,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
{"DisableOnroadUploads", "Disable Onroad Uploads", "Prevent large data uploads when onroad.", ""},
{"HigherBitrate", "Higher Bitrate Recording", "Increases the quality of the footage uploaded to comma connect.", ""},
{"NavChill", "Navigate on Chill Mode", "Allows cars without longitudinal support to navigate. Allows navigation without experimental mode.", ""},
{"PauseLateralOnSignal", "Pause Lateral On Turn Signal Below", "Temporarily disable lateral control during turn signal use below the set speed.", ""},
{"ReverseCruise", "Reverse Cruise Increase", "Reverses the 'long press' functionality when increasing the max set speed. Useful to increase the max speed quickly.", ""},
};
@@ -281,6 +282,8 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
}
});
toggle = qolToggle;
} else if (param == "PauseLateralOnSignal") {
toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 99, std::map<int, QString>(), this, false, " mph");
} else if (param == "ReverseCruise") {
std::vector<QString> reverseCruiseToggles{"ReverseCruiseUI"};
std::vector<QString> reverseCruiseNames{tr("Control Via UI")};
@@ -388,29 +391,34 @@ void FrogPilotControlsPanel::updateMetric() {
params.putIntNonBlocking("CESpeedLead", std::nearbyint(params.getInt("CESpeedLead") * speedConversion));
params.putIntNonBlocking("LaneDetectionWidth", std::nearbyint(params.getInt("LaneDetectionWidth") * distanceConversion));
params.putIntNonBlocking("MTSCLimit", std::nearbyint(params.getInt("MTSCLimit") * speedConversion));
params.putIntNonBlocking("PauseLateralOnSignal", std::nearbyint(params.getInt("PauseLateralOnSignal") * speedConversion));
params.putIntNonBlocking("StoppingDistance", std::nearbyint(params.getInt("StoppingDistance") * distanceConversion));
}
FrogPilotParamValueControl *laneWidthToggle = static_cast<FrogPilotParamValueControl*>(toggles["LaneDetectionWidth"]);
FrogPilotParamValueControl *mtscLimitToggle = static_cast<FrogPilotParamValueControl*>(toggles["MTSCLimit"]);
FrogPilotParamValueControl *pauseLateralToggle = static_cast<FrogPilotParamValueControl*>(toggles["PauseLateralOnSignal"]);
FrogPilotParamValueControl *stoppingDistanceToggle = static_cast<FrogPilotParamValueControl*>(toggles["StoppingDistance"]);
if (isMetric) {
laneWidthToggle->updateControl(0, 30, " meters", 10);
mtscLimitToggle->updateControl(0, 99, " kph");
pauseLateralToggle->updateControl(0, 150, " kph");
stoppingDistanceToggle->updateControl(0, 5, " meters");
} else {
laneWidthToggle->updateControl(0, 100, " feet", 10);
mtscLimitToggle->updateControl(0, 99, " mph");
pauseLateralToggle->updateControl(0, 99, " mph");
stoppingDistanceToggle->updateControl(0, 10, " feet");
}
laneWidthToggle->refresh();
mtscLimitToggle->refresh();
pauseLateralToggle->refresh();
stoppingDistanceToggle->refresh();
previousIsMetric = isMetric;

2
selfdrive/frogpilot/ui/control_settings.h
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@@ -44,7 +44,7 @@ private:
std::set<QString> lateralTuneKeys = {"ForceAutoTune", "NNFF"};
std::set<QString> longitudinalTuneKeys = {"AccelerationProfile", "DecelerationProfile", "AggressiveAcceleration", "StoppingDistance"};
std::set<QString> mtscKeys = {"DisableMTSCSmoothing", "MTSCAggressiveness", "MTSCCurvatureCheck", "MTSCLimit"};
std::set<QString> qolKeys = {"DisableOnroadUploads", "HigherBitrate", "NavChill", "ReverseCruise"};
std::set<QString> qolKeys = {"DisableOnroadUploads", "HigherBitrate", "NavChill", "PauseLateralOnSignal", "ReverseCruise"};
std::set<QString> speedLimitControllerKeys = {};
std::set<QString> speedLimitControllerControlsKeys = {};
std::set<QString> speedLimitControllerQOLKeys = {};