brianhansonxyz/clearpilot
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Use wheel speed in the onroad UI

Browse Source
This commit is contained in:
FrogAi
2024-02-27 16:34:47 -07:00
parent cfbb472acd
commit d10d422fcf
6 changed files with 6 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
selfdrive/ui/qt/onroad.cc
View File

@@ -581,7 +581,7 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
// Handle older routes where vEgoCluster is not set
v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0;
float v_ego = v_ego_cluster_seen ? car_state.getVEgoCluster() : car_state.getVEgo();
float v_ego = v_ego_cluster_seen && !scene.wheel_speed ? car_state.getVEgoCluster() : car_state.getVEgo();
speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH;