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Onroad compass

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Added toggle for an onroad compass.
This commit is contained in:
FrogAi
2024-01-12 22:39:30 -07:00
parent 7546fe114a
commit 672a0e05e2
8 changed files with 162 additions and 3 deletions
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7
selfdrive/ui/ui.cc
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@@ -256,6 +256,12 @@ static void update_state(UIState *s) {
}
if (sm.updated("liveLocationKalman")) {
auto liveLocationKalman = sm["liveLocationKalman"].getLiveLocationKalman();
if (scene.compass) {
auto orientation = liveLocationKalman.getCalibratedOrientationNED();
if (orientation.getValid()) {
scene.bearing_deg = RAD2DEG(orientation.getValue()[2]);
}
}
}
if (sm.updated("wideRoadCameraState")) {
auto cam_state = sm["wideRoadCameraState"].getWideRoadCameraState();
@@ -281,6 +287,7 @@ void ui_update_params(UIState *s) {
scene.always_on_lateral = params.getBool("AlwaysOnLateral");
scene.camera_view = params.getInt("CameraView");
scene.compass = params.getBool("Compass");
scene.conditional_experimental = params.getBool("ConditionalExperimental");
scene.conditional_speed = params.getInt("CESpeed");