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

Vision Turn Speed Controller

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

6
selfdrive/ui/qt/onroad.cc
View File

@@ -650,7 +650,8 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size);
if (is_cruise_set && cruiseAdjustment) {
float transition = qBound(0.0f, 4.0f * (cruiseAdjustment / setSpeed), 1.0f);
QColor min = whiteColor(75), max = greenColor(75);
QColor min = whiteColor(75);
QColor max = vtscControllingCurve ? redColor(75) : greenColor(75);
p.setPen(QPen(QColor::fromRgbF(
min.redF() + transition * (max.redF() - min.redF()),
@@ -1320,8 +1321,9 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets(QPainter &p) {
conditionalSpeedLead = scene.conditional_speed_lead;
conditionalStatus = scene.conditional_status;
bool disableSmoothing = scene.vtsc_controlling_curve ? scene.disable_smoothing_vtsc : scene.disable_smoothing_mtsc;
bool disableSmoothing = vtscControllingCurve ? scene.disable_smoothing_vtsc : scene.disable_smoothing_mtsc;
cruiseAdjustment = disableSmoothing ? fmax(setSpeed - scene.adjusted_cruise, 0) : fmax(0.25 * (setSpeed - scene.adjusted_cruise) + 0.75 * cruiseAdjustment - 1, 0);
vtscControllingCurve = scene.vtsc_controlling_curve;
customColors = scene.custom_colors;