brianhansonxyz/oscarpilot
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
2024-01-12 22:39:30 -07:00
parent 0e6884df41
commit 7e7584d8cb
4 changed files with 62 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files

18
selfdrive/frogpilot/ui/control_settings.cc
View File

@@ -54,6 +54,10 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
{"SLCPriority", "Priority Order", "Determine the priority order for what speed limits to use.", ""},
{"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"},
{"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) {
@@ -326,6 +330,18 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
slscPriorityButton->setValue(priorities[params.getInt("SLCPriority")]);
addItem(slscPriorityButton);
} 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);
}
@@ -365,7 +381,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
lateralTuneKeys = {"AverageCurvature", "NNFF", "SteerRatio"};
longitudinalTuneKeys = {"AccelerationProfile", "AggressiveAcceleration", "SmoothBraking", "StoppingDistance"};
speedLimitControllerKeys = {"Offset1", "Offset2", "Offset3", "Offset4", "SLCFallback", "SLCOverride", "SLCPriority"};
visionTurnControlKeys = {};
visionTurnControlKeys = {"CurveSensitivity", "TurnAggressiveness"};
QObject::connect(uiState(), &UIState::offroadTransition, this, [this](bool offroad) {
if (!offroad) {