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More relaxed tuning params

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firestar5683
2026-02-01 22:19:24 -06:00
parent 1a1e9f0736
commit 7c55dbe49a
3 changed files with 7 additions and 7 deletions
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frogpilot/common/frogpilot_variables.py
+2 -2
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@@ -615,9 +615,9 @@ class FrogPilotVariables:
toggle.friction = np.clip(params.get_float("SteerFriction"), 0, 0.5) if advanced_lateral_tuning and tuning_level >= level["SteerFriction"] else friction
toggle.use_custom_friction = bool(round(toggle.friction, 2) != round(friction, 2)) and is_torque_car and not toggle.force_auto_tune or toggle.force_auto_tune_off
toggle.steerKp = [[0], [np.clip(params.get_float("SteerKP"), steerKp * 0.5, steerKp * 1.5) if advanced_lateral_tuning and is_torque_car and tuning_level >= level["SteerKP"] else steerKp]]
toggle.latAccelFactor = np.clip(params.get_float("SteerLatAccel"), latAccelFactor * 0.75, latAccelFactor * 1.25) if advanced_lateral_tuning and tuning_level >= level["SteerLatAccel"] else latAccelFactor
toggle.latAccelFactor = np.clip(params.get_float("SteerLatAccel"), latAccelFactor * 0.5, latAccelFactor * 1.25) if advanced_lateral_tuning and tuning_level >= level["SteerLatAccel"] else latAccelFactor
toggle.use_custom_latAccelFactor = bool(round(toggle.latAccelFactor, 2) != round(latAccelFactor, 2)) and is_torque_car and not toggle.force_auto_tune or toggle.force_auto_tune_off
toggle.steerRatio = np.clip(params.get_float("SteerRatio"), steerRatio * 0.5, steerRatio * 1.5) if advanced_lateral_tuning and tuning_level >= level["SteerRatio"] else steerRatio
toggle.steerRatio = np.clip(params.get_float("SteerRatio"), steerRatio * 0.25, steerRatio * 1.5) if advanced_lateral_tuning and tuning_level >= level["SteerRatio"] else steerRatio
toggle.use_custom_steerRatio = bool(round(toggle.steerRatio, 2) != round(steerRatio, 2)) and not toggle.force_auto_tune or toggle.force_auto_tune_off
advanced_longitudinal_tuning = params.get_bool("AdvancedLongitudinalTune") if tuning_level >= level["AdvancedLongitudinalTune"] else default.get_bool("AdvancedLongitudinalTune")
frogpilot/ui/qt/offroad/lateral_settings.cc
+4 -4
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@@ -92,10 +92,10 @@ FrogPilotLateralPanel::FrogPilotLateralPanel(FrogPilotSettingsWindow *parent) :
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);
} else if (param == "SteerLatAccel") {
std::vector<QString> steerLatAccelButton{"Reset"};
lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, parent->latAccelFactor * 0.75, parent->latAccelFactor * 1.25, QString(), std::map<float, QString>(), 0.01, false, {}, steerLatAccelButton, false, false);
lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, parent->latAccelFactor * 0.5, parent->latAccelFactor * 1.25, QString(), std::map<float, QString>(), 0.01, false, {}, steerLatAccelButton, false, false);
} else if (param == "SteerRatio") {
std::vector<QString> steerRatioButton{"Reset"};
lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, parent->steerRatio * 0.5, parent->steerRatio * 1.5, QString(), std::map<float, QString>(), 0.01, false, {}, steerRatioButton, false, false);
lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, parent->steerRatio * 0.25, parent->steerRatio * 1.5, QString(), std::map<float, QString>(), 0.01, false, {}, steerRatioButton, false, false);
} else if (param == "AlwaysOnLateral") {
FrogPilotManageControl *aolToggle = new FrogPilotManageControl(param, title, desc, icon);
@@ -258,9 +258,9 @@ void FrogPilotLateralPanel::showEvent(QShowEvent *event) {
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)));
steerLatAccelToggle->updateControl(parent->latAccelFactor * 0.75, parent->latAccelFactor * 1.25);
steerLatAccelToggle->updateControl(parent->latAccelFactor * 0.5, parent->latAccelFactor * 1.25);
steerRatioToggle->setTitle(QString(tr("Steer Ratio (Default: %1)")).arg(QString::number(parent->steerRatio, 'f', 2)));
steerRatioToggle->updateControl(parent->steerRatio * 0.5, parent->steerRatio * 1.5);
steerRatioToggle->updateControl(parent->steerRatio * 0.25, parent->steerRatio * 1.5);
updateToggles();
}
selfdrive/locationd/paramsd.py
+1 -1
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@@ -135,7 +135,7 @@ def main():
CP = msg
cloudlog.info("paramsd got CarParams")
min_sr, max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio
min_sr, max_sr = 0.25 * CP.steerRatio, 2.0 * CP.steerRatio
params = params_reader.get("LiveParameters")