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Increase stop distance

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Added toggle to increase the stop distance from lead vehicles.
This commit is contained in:
FrogAi
2024-02-27 16:34:47 -07:00
parent d78099c85b
commit c131087dc0
5 changed files with 17 additions and 5 deletions
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1
selfdrive/frogpilot/functions/frogpilot_planner.py
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@@ -135,3 +135,4 @@ class FrogPilotPlanner:
self.acceleration_profile = params.get_int("AccelerationProfile") if longitudinal_tune else 0
self.deceleration_profile = params.get_int("DecelerationProfile") if longitudinal_tune else 0
self.aggressive_acceleration = longitudinal_tune and params.get_bool("AggressiveAcceleration")
self.increased_stopping_distance = params.get_int("StoppingDistance") * (1 if self.is_metric else CV.FOOT_TO_METER) if longitudinal_tune else 0

10
selfdrive/frogpilot/ui/control_settings.cc
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@@ -31,6 +31,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
{"AccelerationProfile", "Acceleration Profile", "Change the acceleration rate to be either sporty or eco-friendly.", ""},
{"DecelerationProfile", "Deceleration Profile", "Change the deceleration rate to be either sporty or eco-friendly.", ""},
{"AggressiveAcceleration", "Aggressive Acceleration With Lead", "Increase acceleration aggressiveness when following a lead vehicle from a stop.", ""},
{"StoppingDistance", "Increase Stop Distance Behind Lead", "Increase the stopping distance for a more comfortable stop from lead vehicles.", ""},
{"QOLControls", "Quality of Life", "Miscellaneous quality of life changes to improve your overall openpilot experience.", "../frogpilot/assets/toggle_icons/quality_of_life.png"},
{"DisableOnroadUploads", "Disable Onroad Uploads", "Prevent large data uploads when onroad.", ""},
@@ -209,6 +210,8 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
std::vector<QString> profileOptions{tr("Standard"), tr("Eco"), tr("Sport")};
FrogPilotButtonParamControl *profileSelection = new FrogPilotButtonParamControl(param, title, desc, icon, profileOptions);
toggle = profileSelection;
} else if (param == "StoppingDistance") {
toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 10, std::map<int, QString>(), this, false, " feet");
} else if (param == "QOLControls") {
FrogPilotParamManageControl *qolToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
@@ -306,12 +309,19 @@ void FrogPilotControlsPanel::updateMetric() {
double speedConversion = isMetric ? MILE_TO_KM : KM_TO_MILE;
params.putIntNonBlocking("CESpeed", std::nearbyint(params.getInt("CESpeed") * speedConversion));
params.putIntNonBlocking("CESpeedLead", std::nearbyint(params.getInt("CESpeedLead") * speedConversion));
params.putIntNonBlocking("StoppingDistance", std::nearbyint(params.getInt("StoppingDistance") * distanceConversion));
}
FrogPilotParamValueControl *stoppingDistanceToggle = static_cast<FrogPilotParamValueControl*>(toggles["StoppingDistance"]);
if (isMetric) {
stoppingDistanceToggle->updateControl(0, 5, " meters");
} else {
stoppingDistanceToggle->updateControl(0, 10, " feet");
}
stoppingDistanceToggle->refresh();
previousIsMetric = isMetric;
}

2
selfdrive/frogpilot/ui/control_settings.h
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@@ -40,7 +40,7 @@ private:
std::set<QString> fireTheBabysitterKeys = {"NoLogging", "MuteOverheated", "NoUploads"};
std::set<QString> laneChangeKeys = {};
std::set<QString> lateralTuneKeys = {"ForceAutoTune"};
std::set<QString> longitudinalTuneKeys = {"AccelerationProfile", "DecelerationProfile", "AggressiveAcceleration"};
std::set<QString> longitudinalTuneKeys = {"AccelerationProfile", "DecelerationProfile", "AggressiveAcceleration", "StoppingDistance"};
std::set<QString> mtscKeys = {};
std::set<QString> qolKeys = {"DisableOnroadUploads", "HigherBitrate", "ReverseCruise"};
std::set<QString> speedLimitControllerKeys = {};