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Recovery Power

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firestar5683
2025-12-02 17:07:58 -06:00
parent e3f9a9fb6c
commit b59929ae09
4 changed files with 27 additions and 6 deletions
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common/params.cc
+1
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@@ -587,6 +587,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"WheelIcon", PERSISTENT},
{"WheelSpeed", PERSISTENT},
{"StopDistance", PERSISTENT},
{"RecoveryPower", PERSISTENT},
{"WheelToDownload", CLEAR_ON_MANAGER_START},
};
frogpilot/common/frogpilot_variables.py
+4 -1
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@@ -444,7 +444,8 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
("WarningSoftVolume", "101", 2, "101"),
("WheelIcon", "frog", 0, "stock"),
("WheelSpeed", "0", 2, "0"),
("StopDistance", "6", 3, "6")
("StopDistance", "6", 3, "6"),
("RecoveryPower", "1.0", 2, "1.0")
]
misc_tuning_levels: list[tuple[str, str | bytes, int, str]] = [
@@ -624,6 +625,8 @@ class FrogPilotVariables:
toggle.stop_distance = params.get_float("StopDistance") if advanced_longitudinal_tuning and tuning_level >= level["StopDistance"] else 6.0
toggle.recovery_power = np.clip(params.get_float("RecoveryPower"), 0.5, 2.0) if advanced_longitudinal_tuning and tuning_level >= level["RecoveryPower"] else 1.0
toggle.alert_volume_controller = params.get_bool("AlertVolumeControl") if tuning_level >= level["AlertVolumeControl"] else default.get_bool("AlertVolumeControl")
toggle.disengage_volume = params.get_int("DisengageVolume") if toggle.alert_volume_controller and tuning_level >= level["DisengageVolume"] else default.get_int("DisengageVolume")
toggle.engage_volume = params.get_int("EngageVolume") if toggle.alert_volume_controller and tuning_level >= level["EngageVolume"] else default.get_int("EngageVolume")
frogpilot/tinygrad_modeld/tinygrad_modeld.py
+4 -5
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@@ -33,7 +33,6 @@ from openpilot.frogpilot.common.frogpilot_variables import get_frogpilot_toggles
PROCESS_NAME = "frogpilot.tinygrad_modeld.tinygrad_modeld"
SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
RECOVERY_POWER = 1.0 # The higher this number the more aggressively the model will recover to lanecenter, too high and it will ping-pong
LAT_SMOOTH_SECONDS = 0.1
@@ -42,11 +41,11 @@ MIN_LAT_CONTROL_SPEED = 0.3
def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
lat_action_t: float, long_action_t: float, v_ego: float, mlsim: bool, is_v9: bool) -> log.ModelDataV2.Action:
lat_action_t: float, long_action_t: float, v_ego: float, mlsim: bool, is_v9: bool, frogpilot_toggles) -> log.ModelDataV2.Action:
plan = model_output['plan'][0]
if 'planplus' in model_output:
plan = plan + RECOVERY_POWER*model_output['planplus'][0]
cloudlog.error(f"planplus applied: shape {model_output['planplus'].shape}, RECOVERY_POWER {RECOVERY_POWER}")
plan = plan + frogpilot_toggles.recovery_power*model_output['planplus'][0]
cloudlog.error(f"planplus applied: shape {model_output['planplus'].shape}, RECOVERY_POWER {frogpilot_toggles.recovery_power}")
desired_accel, should_stop = get_accel_from_plan_tomb_raider(plan[:,Plan.VELOCITY][:,0],
plan[:,Plan.ACCELERATION][:,0],
ModelConstants.T_IDXS,
@@ -446,7 +445,7 @@ def main(demo=False):
drivingdata_send = messaging.new_message('drivingModelData')
posenet_send = messaging.new_message('cameraOdometry')
action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego, model.mlsim, model.is_v9)
action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego, model.mlsim, model.is_v9, frogpilot_toggles)
prev_action = action
fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
frogpilot/ui/qt/offroad/model_settings.cc
+18
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@@ -30,12 +30,14 @@ FrogPilotModelPanel::FrogPilotModelPanel(FrogPilotSettingsWindow *parent) : Frog
{"DeleteModel", tr("Delete Driving Models"), tr("Delete driving models from the device."), ""},
{"DownloadModel", tr("Download Driving Models"), tr("Download driving models to the device."), ""},
{"ModelRandomizer", tr("Model Randomizer"), tr("Driving models are chosen at random each drive and feedback prompts are used to find the model that best suits your needs."), ""},
{"RecoveryPower", tr("Recovery Power"), tr("Adjust the strength of planplus lane recovery corrections (0.5 to 2.0)."), ""},
{"StopDistance", tr("Stop Distance"), tr("Adjust the model's stopping distance in meters (minimum 4 for safety). Most users prefer 6."), ""},
{"ManageBlacklistedModels", tr("Manage Model Blacklist"), tr("Add or remove models from the <b>Model Randomizer</b>'s blacklist list."), ""},
{"ManageScores", tr("Manage Model Ratings"), tr("Reset or view the saved ratings for the driving models."), ""},
{"SelectModel", tr("Select Driving Model"), tr("Select the active driving model."), ""},
};
FrogPilotParamValueButtonControl *recoveryPowerToggle = nullptr;
FrogPilotParamValueButtonControl *stopDistanceToggle = nullptr;
for (const auto &[param, title, desc, icon] : modelToggles) {
@@ -431,6 +433,10 @@ FrogPilotModelPanel::FrogPilotModelPanel(FrogPilotSettingsWindow *parent) : Frog
});
modelToggle = selectModelButton;
} else if (param == "RecoveryPower") {
std::vector<QString> recoveryPowerButton{"Reset"};
modelToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, 0.5, 2.0, QString(), std::map<float, QString>(), 0.1, false, {}, recoveryPowerButton, false, false);
recoveryPowerToggle = static_cast<FrogPilotParamValueButtonControl*>(modelToggle);
} else if (param == "StopDistance") {
std::vector<QString> stopDistanceButton{"Reset"};
modelToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, 4.0, 10.0, QString(), std::map<float, QString>(), 0.1, false, {}, stopDistanceButton, false, false);
@@ -463,6 +469,16 @@ FrogPilotModelPanel::FrogPilotModelPanel(FrogPilotSettingsWindow *parent) : Frog
}
});
if (recoveryPowerToggle) {
QObject::connect(recoveryPowerToggle, &FrogPilotParamValueButtonControl::buttonClicked, [this, recoveryPowerToggle]() {
if (ConfirmationDialog::confirm(tr("Are you sure you want to reset your <b>Recovery Power</b> to the default of 1.0?"), tr("Reset"), this)) {
params.putFloat("RecoveryPower", 1.0);
recoveryPowerToggle->refresh();
updateFrogPilotToggles();
}
});
}
if (stopDistanceToggle) {
QObject::connect(stopDistanceToggle, &FrogPilotParamValueButtonControl::buttonClicked, [this, stopDistanceToggle]() {
if (ConfirmationDialog::confirm(tr("Are you sure you want to reset your <b>Stop Distance</b> to the default of 6 meters?"), tr("Reset"), this)) {
@@ -740,6 +756,8 @@ void FrogPilotModelPanel::updateToggles() {
setVisible &= params.getBool("ModelRandomizer");
} else if (key == "SelectModel") {
setVisible &= !params.getBool("ModelRandomizer");
} else if (key == "RecoveryPower") {
setVisible &= (tuningLevel == 3); // Only visible in developer tuning level
} else if (key == "StopDistance") {
setVisible &= (tuningLevel == 3); // Only visible in developer tuning level
}