From f17cf4819eeb2265ceb8d00e9509b142f1cbcef9 Mon Sep 17 00:00:00 2001
From: FrogAi <91348155+FrogAi@users.noreply.github.com>
Date: Sat, 8 Jun 2024 14:26:30 -0700
Subject: [PATCH] Visuals - Quality of Life - Use Wheel Speed

Use the wheel speed instead of the cluster speed in the onroad UI.
---
 selfdrive/ui/qt/onroad/annotated_camera.cc | 2 +-
 selfdrive/ui/ui.cc                         | 1 +
 selfdrive/ui/ui.h                          | 1 +
 3 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc
index 776f3ef4f..1f2e491b1 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.cc
+++ b/selfdrive/ui/qt/onroad/annotated_camera.cc
@@ -62,7 +62,7 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
 
   // Handle older routes where vEgoCluster is not set
   v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0;
-  float v_ego = v_ego_cluster_seen ? car_state.getVEgoCluster() : car_state.getVEgo();
+  float v_ego = v_ego_cluster_seen && !s.scene.wheel_speed ? car_state.getVEgoCluster() : car_state.getVEgo();
   speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
   speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH;
 
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index ffd2831b3..5f4ff9b61 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -422,6 +422,7 @@ void ui_update_frogpilot_params(UIState *s) {
   scene.hide_speed_ui = scene.hide_speed && params.getBool("HideSpeedUI");
   scene.map_style = quality_of_life_visuals ? params.getInt("MapStyle") : 0;
   scene.stopped_timer = quality_of_life_visuals && params.getBool("StoppedTimer");
+  scene.wheel_speed = quality_of_life_visuals && params.getBool("WheelSpeed");
 
   scene.speed_limit_controller = scene.longitudinal_control && params.getBool("SpeedLimitController");
   scene.show_slc_offset = scene.speed_limit_controller && params.getBool("ShowSLCOffset");
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 586f8325b..97b4004e1 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -198,6 +198,7 @@ typedef struct UIScene {
   bool use_si;
   bool use_vienna_slc_sign;
   bool vtsc_controlling_curve;
+  bool wheel_speed;
 
   double fps;