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Torque lateral jerk with stock torque controller

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Add toggle to use Twilsonco's  lateral jerk with stock torque controller.

Co-Authored-By: Tim Wilson <7284371+twilsonco@users.noreply.github.com>
This commit is contained in:
FrogAi
2024-02-27 16:34:47 -07:00
parent 437ecc73ca
commit a0209cf918
5 changed files with 64 additions and 54 deletions
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3
selfdrive/frogpilot/ui/control_settings.cc
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@@ -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.", ""},
{"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"},
{"AccelerationProfile", "Acceleration Profile", "Change the acceleration rate to be either sporty or eco-friendly.", ""},
@@ -485,7 +486,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
}
});
std::set<std::string> rebootKeys = {"AlwaysOnLateral", "HigherBitrate", "NNFF"};
std::set<std::string> rebootKeys = {"AlwaysOnLateral", "HigherBitrate", "NNFF", "UseLateralJerk"};
for (const std::string &key : rebootKeys) {
QObject::connect(toggles[key], &ToggleControl::toggleFlipped, [this, key]() {
if (started) {

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