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Vision Turn Speed Controller

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Added toggles for "Vision Turn Speed Control" along with aggressiveness for the speed and sensitivity for the curve itself.

Credit goes to Pfeiferj!

https: //github.com/pfeiferj
Co-Authored-By: Jacob Pfeifer <jacob@pfeifer.dev>
This commit is contained in:
FrogAi
2024-02-27 16:34:47 -07:00
parent 596cb7e653
commit ddc3819d6c
10 changed files with 67 additions and 7 deletions
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17
selfdrive/frogpilot/ui/control_settings.cc
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@@ -85,6 +85,11 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
{"UseVienna", "Use Vienna Speed Limit Signs", "Use the Vienna (EU) speed limit style signs as opposed to MUTCD (US).", ""},
{"TurnDesires", "Use Turn Desires", "Use turn desires for enhanced precision in turns below the minimum lane change speed.", "../assets/navigation/direction_continue_right.png"},
{"VisionTurnControl", "Vision Turn Speed Controller", "Slow down for detected road curvature for smoother curve handling.", "../frogpilot/assets/toggle_icons/icon_vtc.png"},
{"DisableVTSCSmoothing", "Disable VTSC UI Smoothing", "Disables the smoothing for the requested speed in the onroad UI.", ""},
{"CurveSensitivity", "Curve Detection Sensitivity", "Set curve detection sensitivity. Higher values prompt earlier responses, lower values lead to smoother but later reactions.", ""},
{"TurnAggressiveness", "Turn Speed Aggressiveness", "Set turn speed aggressiveness. Higher values result in faster turns, lower values yield gentler turns.", ""},
};
for (const auto &[param, title, desc, icon] : controlToggles) {
@@ -451,6 +456,18 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
slcPriorityButton->setValue(initialPriorities.join(", "));
addItem(slcPriorityButton);
} else if (param == "VisionTurnControl") {
FrogPilotParamManageControl *visionTurnControlToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
QObject::connect(visionTurnControlToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
parentToggleClicked();
for (auto &[key, toggle] : toggles) {
toggle->setVisible(visionTurnControlKeys.find(key.c_str()) != visionTurnControlKeys.end());
}
});
toggle = visionTurnControlToggle;
} else if (param == "CurveSensitivity" || param == "TurnAggressiveness") {
toggle = new FrogPilotParamValueControl(param, title, desc, icon, 1, 200, std::map<int, QString>(), this, false, "%");
} else {
toggle = new ParamControl(param, title, desc, icon, this);
}

2
selfdrive/frogpilot/ui/control_settings.h
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@@ -52,7 +52,7 @@ private:
std::set<QString> speedLimitControllerControlsKeys = {"Offset1", "Offset2", "Offset3", "Offset4", "SLCFallback", "SLCOverride", "SLCPriority"};
std::set<QString> speedLimitControllerQOLKeys = {"SLCConfirmation", "ForceMPHDashboard", "SetSpeedLimit"};
std::set<QString> speedLimitControllerVisualsKeys = {"ShowSLCOffset", "UseVienna"};
std::set<QString> visionTurnControlKeys = {};
std::set<QString> visionTurnControlKeys = {"DisableVTSCSmoothing", "CurveSensitivity", "TurnAggressiveness"};
std::map<std::string, ParamControl*> toggles;