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ui: display wide cam based on steering angle (#217)

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* ui: display wide cam based on steering angle

* Update CHANGELOGS.md
This commit is contained in:
Jason Wen
2023-08-17 12:35:11 -04:00
committed by GitHub
parent 9a6653bf4c
commit 2741088ab0
2 changed files with 4 additions and 2 deletions
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CHANGELOGS.md
+1
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@@ -1,5 +1,6 @@
sunnypilot - 0.9.4.2 (2023-08-xx)
========================
* NEW❗: Wide camera view when the steering angle is more than 45°
sunnypilot - 0.9.4.1 (2023-08-11)
========================
selfdrive/ui/qt/onroad.cc
+3 -2
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@@ -1785,9 +1785,10 @@ void AnnotatedCameraWidget::paintEvent(QPaintEvent *event) {
bool has_wide_cam = available_streams.count(VISION_STREAM_WIDE_ROAD);
if (has_wide_cam) {
float v_ego = sm["carState"].getCarState().getVEgo();
if ((v_ego < 10) || available_streams.size() == 1) {
float steer_angle = sm["carState"].getCarState().getSteeringAngleDeg();
if ((v_ego < 10) || available_streams.size() == 1 || (std::fabs(steer_angle) > 45)) {
wide_cam_requested = true;
} else if (v_ego > 15) {
} else if ((v_ego > 15) && (std::fabs(steer_angle) < 30)) {
wide_cam_requested = false;
}
wide_cam_requested = wide_cam_requested && sm["controlsState"].getControlsState().getExperimentalMode();