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Set speed offset

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Added toggle to apply an offset to the set speed.

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 6427b1380e
commit afcd012241
5 changed files with 17 additions and 1 deletions
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1
selfdrive/controls/controlsd.py
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@@ -1108,6 +1108,7 @@ class Controls:
quality_of_life = self.params.get_bool("QOLControls")
self.pause_lateral_on_signal = self.params.get_int("PauseLateralOnSignal") * (CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS) if quality_of_life else 0
self.frogpilot_variables.reverse_cruise_increase = quality_of_life and self.params.get_bool("ReverseCruise")
self.frogpilot_variables.set_speed_offset = self.params.get_int("SetSpeedOffset") * (1 if self.is_metric else CV.MPH_TO_KPH) if quality_of_life else 0
def main():
controls = Controls()

6
selfdrive/controls/lib/drive_helpers.py
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@@ -114,6 +114,12 @@ class VCruiseHelper:
else:
self.v_cruise_kph += v_cruise_delta * CRUISE_INTERVAL_SIGN[button_type]
# Apply offset
v_cruise_offset = (frogpilot_variables.set_speed_offset * CRUISE_INTERVAL_SIGN[button_type]) if long_press else 0
if v_cruise_offset < 0:
v_cruise_offset = frogpilot_variables.set_speed_offset - v_cruise_delta
self.v_cruise_kph += v_cruise_offset
# If set is pressed while overriding, clip cruise speed to minimum of vEgo
if CS.gasPressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise):
self.v_cruise_kph = max(self.v_cruise_kph, CS.vEgo * CV.MS_TO_KPH)

8
selfdrive/frogpilot/ui/control_settings.cc
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@@ -58,6 +58,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
{"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.", ""},
{"SetSpeedOffset", "Set Speed Offset", "Set an offset for your desired set speed.", ""},
};
for (const auto &[param, title, desc, icon] : controlToggles) {
@@ -284,6 +285,8 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
std::vector<QString> reverseCruiseToggles{"ReverseCruiseUI"};
std::vector<QString> reverseCruiseNames{tr("Control Via UI")};
toggle = new FrogPilotParamToggleControl(param, title, desc, icon, reverseCruiseToggles, reverseCruiseNames);
} else if (param == "SetSpeedOffset") {
toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 99, std::map<int, QString>(), this, false, " mph");
} else if (param == "NudgelessLaneChange") {
FrogPilotParamManageControl *laneChangeToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
@@ -396,12 +399,14 @@ void FrogPilotControlsPanel::updateMetric() {
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("SetSpeedOffset", std::nearbyint(params.getInt("SetSpeedOffset") * 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 *setSpeedOffsetToggle = static_cast<FrogPilotParamValueControl*>(toggles["SetSpeedOffset"]);
FrogPilotParamValueControl *stoppingDistanceToggle = static_cast<FrogPilotParamValueControl*>(toggles["StoppingDistance"]);
if (isMetric) {
@@ -409,6 +414,7 @@ void FrogPilotControlsPanel::updateMetric() {
mtscLimitToggle->updateControl(0, 99, " kph");
pauseLateralToggle->updateControl(0, 150, " kph");
setSpeedOffsetToggle->updateControl(0, 150, " kph");
stoppingDistanceToggle->updateControl(0, 5, " meters");
} else {
@@ -416,6 +422,7 @@ void FrogPilotControlsPanel::updateMetric() {
mtscLimitToggle->updateControl(0, 99, " mph");
pauseLateralToggle->updateControl(0, 99, " mph");
setSpeedOffsetToggle->updateControl(0, 99, " mph");
stoppingDistanceToggle->updateControl(0, 10, " feet");
}
@@ -423,6 +430,7 @@ void FrogPilotControlsPanel::updateMetric() {
laneWidthToggle->refresh();
mtscLimitToggle->refresh();
pauseLateralToggle->refresh();
setSpeedOffsetToggle->refresh();
stoppingDistanceToggle->refresh();
previousIsMetric = isMetric;

2
selfdrive/frogpilot/ui/control_settings.h
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@@ -45,7 +45,7 @@ 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", "PauseLateralOnSignal", "ReverseCruise"};
std::set<QString> qolKeys = {"DisableOnroadUploads", "HigherBitrate", "NavChill", "PauseLateralOnSignal", "ReverseCruise", "SetSpeedOffset"};
std::set<QString> speedLimitControllerKeys = {};
std::set<QString> speedLimitControllerControlsKeys = {};
std::set<QString> speedLimitControllerQOLKeys = {};