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

Map Turn Speed Control

Browse Source 
Added toggle for "Map Turn Speed Control".

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 a864072d97
commit e076a3d4d6
12 changed files with 243 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files

27
selfdrive/frogpilot/ui/control_settings.cc
View File

@@ -33,6 +33,12 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
{"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.", ""},
{"MTSCEnabled", "Map Turn Speed Control", "Slow down for anticipated curves detected by your downloaded maps.", "../frogpilot/assets/toggle_icons/icon_speed_map.png"},
{"DisableMTSCSmoothing", "Disable MTSC UI Smoothing", "Disables the smoothing for the requested speed in the onroad UI.", ""},
{"MTSCCurvatureCheck", "Model Curvature Detection Failsafe", "Only trigger MTSC when the model detects a curve in the road. Purely used as a failsafe to prevent false positives. Leave this off if you never experience false positives.", ""},
{"MTSCLimit", "Speed Change Hard Cap", "Set a hard cap for MTSC. If MTSC requests a speed decrease greater than this value, it ignores the requested speed from MTSC. Purely used as a failsafe to prevent false positives. Leave this off if you never experience false positives.", ""},
{"MTSCAggressiveness", "Turn Speed Aggressiveness", "Set turn speed aggressiveness. Higher values result in faster turns, lower values yield gentler turns.\n\nA change of +- 1% results in the velocity being raised or lowered by about 1 mph.", ""},
{"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.", ""},
{"HigherBitrate", "Higher Bitrate Recording", "Increases the quality of the footage uploaded to comma connect.", ""},
@@ -213,6 +219,20 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
} else if (param == "StoppingDistance") {
toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 10, std::map<int, QString>(), this, false, " feet");
} else if (param == "MTSCEnabled") {
FrogPilotParamManageControl *mtscToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
QObject::connect(mtscToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
parentToggleClicked();
for (auto &[key, toggle] : toggles) {
toggle->setVisible(mtscKeys.find(key.c_str()) != mtscKeys.end());
}
});
toggle = mtscToggle;
} else if (param == "MTSCAggressiveness") {
toggle = new FrogPilotParamValueControl(param, title, desc, icon, 1, 200, std::map<int, QString>(), this, false, "%");
} else if (param == "MTSCLimit") {
toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 99, std::map<int, QString>(), this, false, " mph");
} else if (param == "QOLControls") {
FrogPilotParamManageControl *qolToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
QObject::connect(qolToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
@@ -309,17 +329,24 @@ 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("MTSCLimit", std::nearbyint(params.getInt("MTSCLimit") * speedConversion));
params.putIntNonBlocking("StoppingDistance", std::nearbyint(params.getInt("StoppingDistance") * distanceConversion));
}
FrogPilotParamValueControl *mtscLimitToggle = static_cast<FrogPilotParamValueControl*>(toggles["MTSCLimit"]);
FrogPilotParamValueControl *stoppingDistanceToggle = static_cast<FrogPilotParamValueControl*>(toggles["StoppingDistance"]);
if (isMetric) {
mtscLimitToggle->updateControl(0, 99, " kph");
stoppingDistanceToggle->updateControl(0, 5, " meters");
} else {
mtscLimitToggle->updateControl(0, 99, " mph");
stoppingDistanceToggle->updateControl(0, 10, " feet");
}
mtscLimitToggle->refresh();
stoppingDistanceToggle->refresh();
previousIsMetric = isMetric;

2
selfdrive/frogpilot/ui/control_settings.h
View File

@@ -41,7 +41,7 @@ private:
std::set<QString> laneChangeKeys = {};
std::set<QString> lateralTuneKeys = {"ForceAutoTune"};
std::set<QString> longitudinalTuneKeys = {"AccelerationProfile", "DecelerationProfile", "AggressiveAcceleration", "StoppingDistance"};
std::set<QString> mtscKeys = {};
std::set<QString> mtscKeys = {"DisableMTSCSmoothing", "MTSCAggressiveness", "MTSCCurvatureCheck", "MTSCLimit"};
std::set<QString> qolKeys = {"DisableOnroadUploads", "HigherBitrate", "ReverseCruise"};
std::set<QString> speedLimitControllerKeys = {};
std::set<QString> speedLimitControllerControlsKeys = {};