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b/panda/board/obj/bootstub.panda_jungle_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin index 2f270b348..9ca474c55 100755 Binary files a/panda/board/obj/bootstub.panda_remote.bin and b/panda/board/obj/bootstub.panda_remote.bin differ diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h index bce1bd4a4..f43ee8bc6 100644 --- a/panda/board/obj/gitversion.h +++ b/panda/board/obj/gitversion.h @@ -1,2 +1,2 @@ extern const uint8_t gitversion[19]; -const uint8_t gitversion[19] = "DEV-7ceb47eb-DEBUG"; +const uint8_t gitversion[19] = "DEV-47d3136f-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 5d495925b..fa7083531 100644 Binary files a/panda/board/obj/panda.bin.signed and b/panda/board/obj/panda.bin.signed differ diff --git a/panda/board/obj/panda/bootstub.elf b/panda/board/obj/panda/bootstub.elf index 74d0bcd4d..dddeaa211 100755 Binary files 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164ee5654..7957b702a 100755 Binary files a/panda/board/obj/panda_jungle_h7/main.bin and b/panda/board/obj/panda_jungle_h7/main.bin differ diff --git a/panda/board/obj/panda_jungle_h7/main.elf b/panda/board/obj/panda_jungle_h7/main.elf index 5497bd606..3fccdc29d 100755 Binary files a/panda/board/obj/panda_jungle_h7/main.elf and b/panda/board/obj/panda_jungle_h7/main.elf differ diff --git a/panda/board/obj/panda_remote.bin.signed b/panda/board/obj/panda_remote.bin.signed index cad47c86b..fbab298a1 100644 Binary files a/panda/board/obj/panda_remote.bin.signed and b/panda/board/obj/panda_remote.bin.signed differ diff --git a/panda/board/obj/panda_remote/bootstub.elf b/panda/board/obj/panda_remote/bootstub.elf index cebedc7d9..6bbb36311 100755 Binary files a/panda/board/obj/panda_remote/bootstub.elf and b/panda/board/obj/panda_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_remote/main.bin b/panda/board/obj/panda_remote/main.bin index e525c983d..bb579ca99 100755 Binary files a/panda/board/obj/panda_remote/main.bin and b/panda/board/obj/panda_remote/main.bin differ diff --git a/panda/board/obj/panda_remote/main.elf b/panda/board/obj/panda_remote/main.elf index 3312ab38c..8a5f5579b 100755 Binary files a/panda/board/obj/panda_remote/main.elf and b/panda/board/obj/panda_remote/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index 2c9480331..79a24eb24 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-7ceb47eb-DEBUG \ No newline at end of file +DEV-47d3136f-DEBUG \ No newline at end of file diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index e8007c101..b3cf1a88e 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ diff --git a/starpilot/ui/qt/widgets/developer_sidebar.cc b/starpilot/ui/qt/widgets/developer_sidebar.cc index 7fc189133..00bd5610e 100644 --- a/starpilot/ui/qt/widgets/developer_sidebar.cc +++ b/starpilot/ui/qt/widgets/developer_sidebar.cc @@ -72,6 +72,7 @@ void DeveloperSidebar::updateState(const UIState &s, const StarPilotUIState &fs) const cereal::LiveDelayData::Reader &liveDelay = fpsm["liveDelay"].getLiveDelay(); const cereal::LiveParametersData::Reader &liveParameters = fpsm["liveParameters"].getLiveParameters(); const cereal::LiveTorqueParametersData::Reader &liveTorqueParameters = fpsm["liveTorqueParameters"].getLiveTorqueParameters(); + const bool usingLiveTorqueTune = liveTorqueParameters.getUseParams() || starpilot_scene.starpilot_toggles.value("force_auto_tune").toBool(); const bool is_metric = s.scene.is_metric; const bool use_si = starpilot_scene.starpilot_toggles.value("use_si_metrics").toBool(); @@ -116,14 +117,24 @@ void DeveloperSidebar::updateState(const UIState &s, const StarPilotUIState &fs) torqueLabel += QString(" - (%1%)").arg(maxTorque); } + float displayedFriction = usingLiveTorqueTune ? liveTorqueParameters.getFrictionCoefficientFiltered() : params.getFloat("SteerFrictionStock"); + if (displayedFriction == 0.0f) { + displayedFriction = liveTorqueParameters.getFrictionCoefficientFiltered(); + } + + float displayedLatAccel = usingLiveTorqueTune ? liveTorqueParameters.getLatAccelFactorFiltered() : params.getFloat("SteerLatAccelStock"); + if (displayedLatAccel == 0.0f) { + displayedLatAccel = liveTorqueParameters.getLatAccelFactorFiltered(); + } + accelerationStatus = ItemStatus(QPair(tr("ACCEL"), QString::number(acceleration, 'f', 2) + accelerationUnit), metricColor); accelerationJerkStatus = ItemStatus(QPair(tr("ACCEL JERK"), QString::number(starpilotPlan.getAccelerationJerk())), metricColor); actuatorAccelerationStatus = ItemStatus(QPair(tr("ACT ACCEL"), QString::number(carControl.getActuators().getAccel() * accelerationConversion, 'f', 2) + accelerationUnit), metricColor); dangerFactorStatus = ItemStatus(QPair(tr("DANGER %"), QString::number(starpilotPlan.getDangerFactor() * 100.0f, 'f', 2) + "%"), metricColor); dangerJerkStatus = ItemStatus(QPair(tr("DANGER JERK"), QString::number(starpilotPlan.getDangerJerk())), metricColor); delayStatus = ItemStatus(QPair(tr("STEER DELAY"), QString::number(liveDelay.getLateralDelay(), 'f', 5)), metricColor); - frictionStatus = ItemStatus(QPair(tr("FRICTION"), QString::number(liveTorqueParameters.getFrictionCoefficientFiltered(), 'f', 5)), metricColor); - latAccelStatus = ItemStatus(QPair(tr("LAT ACCEL"), QString::number(liveTorqueParameters.getLatAccelFactorFiltered(), 'f', 5)), metricColor); + frictionStatus = ItemStatus(QPair(tr("FRICTION"), QString::number(displayedFriction, 'f', 5)), metricColor); + latAccelStatus = ItemStatus(QPair(tr("LAT ACCEL"), QString::number(displayedLatAccel, 'f', 5)), metricColor); lateralEngagementStatus = ItemStatus(QPair(tr("LATERAL %"), QString::number((lateralEngagementTime / totalEngagementTime) * 100.0f, 'f', 2) + "%"), metricColor); longitudinalEngagementStatus = ItemStatus(QPair(tr("LONG %"), QString::number((longitudinalEngagementTime / totalEngagementTime) * 100.0f, 'f', 2) + "%"), metricColor); maxAccelerationStatus = ItemStatus(QPair(tr("MAX ACCEL"), QString::number(maxAcceleration, 'f', 2) + accelerationUnit), metricColor); diff --git a/starpilot/ui/qt/widgets/developer_sidebar.h b/starpilot/ui/qt/widgets/developer_sidebar.h index 8d3183c30..c16ab104a 100644 --- a/starpilot/ui/qt/widgets/developer_sidebar.h +++ b/starpilot/ui/qt/widgets/developer_sidebar.h @@ -24,6 +24,7 @@ private: std::vector metricAssignments; QColor metricColor; + Params params; ItemStatus accelerationJerkStatus; ItemStatus accelerationStatus;