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User set steer ratio

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This commit is contained in:
FrogAi
2024-02-27 16:34:47 -07:00
parent d10d422fcf
commit 596cb7e653
5 changed files with 41 additions and 2 deletions
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27
selfdrive/frogpilot/ui/control_settings.cc
View File

@@ -33,6 +33,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
{"LateralTune", "Lateral Tuning", "Modify openpilot's steering behavior.", "../frogpilot/assets/toggle_icons/icon_lateral_tune.png"},
{"ForceAutoTune", "Force Auto Tune", "Forces comma's auto lateral tuning for unsupported vehicles.", ""},
{"NNFF", "NNFF - Neural Network Feedforward", "Use Twilsonco's Neural Network Feedforward for enhanced precision in lateral control.", ""},
{"SteerRatio", steerRatioStock != 0 ? QString("Steer Ratio (Default: %1)").arg(steerRatioStock, 0, 'f', 2) : "Steer Ratio", "Set a custom steer ratio for your vehicle controls.", ""},
{"UseLateralJerk", "Use Lateral Jerk", "Include steer torque necessary to achieve desired steer rate (lateral jerk).", ""},
{"LongitudinalTune", "Longitudinal Tuning", "Modify openpilot's acceleration and braking behavior.", "../frogpilot/assets/toggle_icons/icon_longitudinal_tune.png"},
@@ -230,6 +231,8 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
}
});
toggle = lateralTuneToggle;
} else if (param == "SteerRatio") {
toggle = new FrogPilotParamValueControl(param, title, desc, icon, steerRatioStock * 0.75, steerRatioStock * 1.25, std::map<int, QString>(), this, false, "", 1, 0.01);
} else if (param == "LongitudinalTune") {
FrogPilotParamManageControl *longitudinalTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
@@ -527,6 +530,30 @@ void FrogPilotControlsPanel::updateToggles() {
}
void FrogPilotControlsPanel::updateCarToggles() {
steerRatioStock = params.getFloat("SteerRatioStock");
if (steerRatioStock == 0.0) {
QTimer *timer = new QTimer(this);
timer->setInterval(1000);
connect(timer, &QTimer::timeout, this, [this, timer]() {
steerRatioStock = params.getFloat("SteerRatioStock");
if (steerRatioStock != 0.0) {
timer->stop();
timer->deleteLater();
FrogPilotParamValueControl *steerRatioToggle = static_cast<FrogPilotParamValueControl*>(toggles["SteerRatio"]);
steerRatioToggle->setTitle(QString("Steer Ratio (Default: %1)").arg(steerRatioStock, 0, 'f', 2));
steerRatioToggle->updateControl(steerRatioStock * 0.75, steerRatioStock * 1.25, "", 0.01);
steerRatioToggle->refresh();
}
});
timer->start();
} else {
FrogPilotParamValueControl *steerRatioToggle = static_cast<FrogPilotParamValueControl*>(toggles["SteerRatio"]);
steerRatioToggle->setTitle(QString("Steer Ratio (Default: %1)").arg(steerRatioStock, 0, 'f', 2));
steerRatioToggle->updateControl(steerRatioStock * 0.75, steerRatioStock * 1.25, "", 0.01);
steerRatioToggle->refresh();
}
}
void FrogPilotControlsPanel::updateMetric() {

4
selfdrive/frogpilot/ui/control_settings.h
View File

@@ -44,7 +44,7 @@ private:
std::set<QString> experimentalModeActivationKeys = {"ExperimentalModeViaDistance", "ExperimentalModeViaLKAS", "ExperimentalModeViaScreen"};
std::set<QString> fireTheBabysitterKeys = {"NoLogging", "MuteOverheated", "NoUploads", "OfflineMode"};
std::set<QString> laneChangeKeys = {"LaneChangeTime", "LaneDetection", "LaneDetectionWidth", "OneLaneChange"};
std::set<QString> lateralTuneKeys = {"ForceAutoTune", "NNFF", "UseLateralJerk"};
std::set<QString> lateralTuneKeys = {"ForceAutoTune", "NNFF", "SteerRatio", "UseLateralJerk"};
std::set<QString> longitudinalTuneKeys = {"AccelerationProfile", "DecelerationProfile", "AggressiveAcceleration", "LeadDetectionThreshold", "SmoothBraking", "StoppingDistance", "TrafficMode"};
std::set<QString> mtscKeys = {"DisableMTSCSmoothing", "MTSCAggressiveness", "MTSCCurvatureCheck", "MTSCLimit"};
std::set<QString> qolKeys = {"DisableOnroadUploads", "HigherBitrate", "NavChill", "PauseLateralOnSignal", "ReverseCruise", "SetSpeedOffset"};
@@ -61,4 +61,6 @@ private:
bool isMetric = params.getBool("IsMetric");
bool started = false;
float steerRatioStock = params.getFloat("SteerRatioStock");
};