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User adjustable offsets

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This commit is contained in:
firestar5683
2026-02-07 22:59:56 -06:00
parent 8cb3ded338
commit 4795656d6c
27 changed files with 309 additions and 5 deletions
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frogpilot/ui/qt/offroad/frogpilot_settings.cc
+9
View File
@@ -286,6 +286,7 @@ void FrogPilotSettingsWindow::updateVariables() {
longitudinalActuatorDelay = CP.getLongitudinalActuatorDelay();
startAccel = CP.getStartAccel();
steerActuatorDelay = CP.getSteerActuatorDelay();
steerOffset = 0.0f;
steerKp = CP.getLateralTuning().which() == cereal::CarParams::LateralTuning::PID ? CP.getLateralTuning().getPid().getKpV()[0] : 0.6;
steerRatio = CP.getSteerRatio();
stopAccel = CP.getStopAccel();
@@ -297,6 +298,7 @@ void FrogPilotSettingsWindow::updateVariables() {
float currentDelayStock = params.getFloat("SteerDelayStock");
float currentFrictionStock = params.getFloat("SteerFrictionStock");
float currentSteerOffsetStock = params.getFloat("SteerOffsetStock");
float currentKPStock = params.getFloat("SteerKPStock");
float currentLatAccelStock = params.getFloat("SteerLatAccelStock");
float currentLongDelayStock = params.getFloat("LongitudinalActuatorDelayStock");
@@ -321,6 +323,13 @@ void FrogPilotSettingsWindow::updateVariables() {
params.putFloat("SteerFrictionStock", friction);
}
if (currentSteerOffsetStock != steerOffset) {
if (params.getFloat("SteerOffset") == currentSteerOffsetStock) {
params.putFloat("SteerOffset", steerOffset);
}
params.putFloat("SteerOffsetStock", steerOffset);
}
if (currentKPStock != steerKp && steerKp != 0) {
if (params.getFloat("SteerKP") == currentKPStock || currentKPStock == 0) {
params.putFloat("SteerKP", steerKp);
frogpilot/ui/qt/offroad/frogpilot_settings.h
+1
View File
@@ -47,6 +47,7 @@ public:
float longitudinalActuatorDelay;
float startAccel;
float steerActuatorDelay;
float steerOffset;
float steerKp;
float steerRatio;
float stopAccel;
frogpilot/ui/qt/offroad/lateral_settings.cc
+19
View File
@@ -41,6 +41,7 @@ FrogPilotLateralPanel::FrogPilotLateralPanel(FrogPilotSettingsWindow *parent) :
{"AdvancedLateralTune", tr("Advanced Lateral Tuning"), tr("<b>Advanced steering control changes to fine-tune how openpilot drives.</b>"), "../../frogpilot/assets/toggle_icons/icon_advanced_lateral_tune.png"},
{"SteerDelay", parent->steerActuatorDelay != 0 ? QString(tr("Actuator Delay (Default: %1)")).arg(QString::number(parent->steerActuatorDelay, 'f', 2)) : tr("Actuator Delay"), tr("<b>The time between openpilot's steering command and the vehicle's response.</b> Increase if the vehicle reacts late; decrease if it feels jumpy. Auto-learned by default."), ""},
{"SteerFriction", parent->friction != 0 ? QString(tr("Friction (Default: %1)")).arg(QString::number(parent->friction, 'f', 2)) : tr("Friction"), tr("<b>Compensates for steering friction.</b> Increase if the wheel sticks near center; decrease if it jitters. Auto-learned by default."), ""},
{"SteerOffset", parent->steerOffset != 0 ? QString(tr("Steer Offset (Default: %1)")).arg(QString::number(parent->steerOffset, 'f', 3)) : tr("Steer Offset"), tr("<b>Offsets steering torque to help compensate for alignment or tire issues.</b> More negative pulls the car right; more positive pulls it left. Most users should not need to touch this."), ""},
{"SteerKP", parent->steerKp != 0 ? QString(tr("Kp Factor (Default: %1)")).arg(QString::number(parent->steerKp, 'f', 2)) : tr("Kp Factor"), tr("<b>How strongly openpilot corrects lane position.</b> Higher is tighter but twitchier; lower is smoother but slower. Auto-learned by default."), ""},
{"SteerLatAccel", parent->latAccelFactor != 0 ? QString(tr("Lateral Acceleration (Default: %1)")).arg(QString::number(parent->latAccelFactor, 'f', 2)) : tr("Lateral Acceleration"), tr("<b>Maps steering torque to turning response.</b> Increase for sharper turns; decrease for gentler steering. Auto-learned by default."), ""},
{"SteerRatio", parent->steerRatio != 0 ? QString(tr("Steer Ratio (Default: %1)")).arg(QString::number(parent->steerRatio, 'f', 2)) : tr("Steer Ratio"), tr("<b>The relationship between steering wheel rotation and road wheel angle.</b> Increase if steering feels too quick or twitchy; decrease if it feels too slow or weak. Auto-learned by default."), ""},
@@ -87,6 +88,9 @@ FrogPilotLateralPanel::FrogPilotLateralPanel(FrogPilotSettingsWindow *parent) :
} else if (param == "SteerFriction") {
std::vector<QString> steerFrictionButton{"Reset"};
lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, 0, 0.5, QString(), std::map<float, QString>(), 0.01, false, {}, steerFrictionButton, false, false);
} else if (param == "SteerOffset") {
std::vector<QString> steerOffsetButton{"Reset"};
lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, -0.2, 0.2, QString(), std::map<float, QString>(), 0.005, false, {}, steerOffsetButton, false, false);
} else if (param == "SteerKP") {
std::vector<QString> steerKPButton{"Reset"};
lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, parent->steerKp * 0.5, parent->steerKp * 1.5, QString(), std::map<float, QString>(), 0.01, false, {}, steerKPButton, false, false);
@@ -216,6 +220,14 @@ FrogPilotLateralPanel::FrogPilotLateralPanel(FrogPilotSettingsWindow *parent) :
}
});
steerOffsetToggle = static_cast<FrogPilotParamValueButtonControl*>(toggles["SteerOffset"]);
QObject::connect(steerOffsetToggle, &FrogPilotParamValueButtonControl::buttonClicked, [parent, this]() {
if (FrogPilotConfirmationDialog::yesorno(tr("Reset <b>Steer Offset</b> to its default value?"), this)) {
params.putFloat("SteerOffset", parent->steerOffset);
steerOffsetToggle->refresh();
}
});
steerKPToggle = static_cast<FrogPilotParamValueButtonControl*>(toggles["SteerKP"]);
QObject::connect(steerKPToggle, &FrogPilotParamValueButtonControl::buttonClicked, [parent, this]() {
if (FrogPilotConfirmationDialog::yesorno(tr("Reset <b>Kp Factor</b> to its default value?"), this)) {
@@ -255,6 +267,7 @@ void FrogPilotLateralPanel::showEvent(QShowEvent *event) {
steerDelayToggle->setTitle(QString(tr("Actuator Delay (Default: %1)")).arg(QString::number(parent->steerActuatorDelay, 'f', 2)));
steerFrictionToggle->setTitle(QString(tr("Friction (Default: %1)")).arg(QString::number(parent->friction, 'f', 2)));
steerOffsetToggle->setTitle(QString(tr("Steer Offset (Default: %1)")).arg(QString::number(parent->steerOffset, 'f', 3)));
steerKPToggle->setTitle(QString(tr("Kp Factor (Default: %1)")).arg(QString::number(parent->steerKp, 'f', 2)));
steerKPToggle->updateControl(parent->steerKp * 0.5, parent->steerKp * 1.5);
steerLatAccelToggle->setTitle(QString(tr("Lateral Accel (Default: %1)")).arg(QString::number(parent->latAccelFactor, 'f', 2)));
@@ -405,6 +418,12 @@ void FrogPilotLateralPanel::updateToggles() {
setVisible &= !usingNNFF;
}
else if (key == "SteerOffset") {
setVisible &= parent->isGM;
setVisible &= parent->isTorqueCar || forcingTorqueController;
setVisible &= !usingNNFF;
}
else if (key == "SteerKP") {
setVisible &= parent->steerKp != 0;
setVisible &= !parent->isAngleCar;
frogpilot/ui/qt/offroad/lateral_settings.h
+3 -1
View File
@@ -31,6 +31,7 @@ private:
float friction;
float latAccelFactor;
float steerActuatorDelay;
float steerOffset;
float steerKp;
float steerRatio;
@@ -38,7 +39,7 @@ private:
std::map<QString, AbstractControl*> toggles;
QSet<QString> advancedLateralTuneKeys = {"ForceAutoTune", "ForceAutoTuneOff", "ForceTorqueController", "SteerDelay", "SteerFriction", "SteerLatAccel", "SteerKP", "SteerRatio"};
QSet<QString> advancedLateralTuneKeys = {"ForceAutoTune", "ForceAutoTuneOff", "ForceTorqueController", "SteerDelay", "SteerFriction", "SteerOffset", "SteerLatAccel", "SteerKP", "SteerRatio"};
QSet<QString> aolKeys = {"AlwaysOnLateralLKAS", "AlwaysOnLateralMain", "PauseAOLOnBrake"};
QSet<QString> laneChangeKeys = {"LaneChangeTime", "LaneDetectionWidth", "MinimumLaneChangeSpeed", "NudgelessLaneChange", "OneLaneChange"};
QSet<QString> lateralTuneKeys = {"NNFF", "NNFFLite", "TurnDesires"};
@@ -48,6 +49,7 @@ private:
FrogPilotParamValueButtonControl *steerDelayToggle;
FrogPilotParamValueButtonControl *steerFrictionToggle;
FrogPilotParamValueButtonControl *steerOffsetToggle;
FrogPilotParamValueButtonControl *steerLatAccelToggle;
FrogPilotParamValueButtonControl *steerKPToggle;
FrogPilotParamValueButtonControl *steerRatioToggle;