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hyundai longitudinal: live accel min and accel max

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discountchubbs
2025-08-11 11:40:16 -07:00
parent 2f72ff9755
commit 52c6b69afc
6 changed files with 24 additions and 96 deletions
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common/params_keys.h
+7 -13
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@@ -174,19 +174,13 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
{"HyundaiLongitudinalTuning", PERSISTENT},
// Hyundai Longitudinal Tuning Live Parameters
{"LongTuningCustomToggle", PERSISTENT | BACKUP},
{"LongTuningVEgoStopping", PERSISTENT | BACKUP},
{"LongTuningVEgoStarting", PERSISTENT | BACKUP},
{"LongTuningStoppingDecelRate", PERSISTENT | BACKUP},
{"LongTuningLookaheadJerkBp", PERSISTENT | BACKUP},
{"LongTuningLookaheadJerkUpperV", PERSISTENT | BACKUP},
{"LongTuningLookaheadJerkLowerV", PERSISTENT | BACKUP},
{"LongTuningLongitudinalActuatorDelay", PERSISTENT | BACKUP},
{"LongTuningJerkLimits", PERSISTENT | BACKUP},
{"LongTuningUpperJerkV", PERSISTENT | BACKUP},
{"LongTuningLowerJerkV", PERSISTENT | BACKUP},
{"LongTuningMinUpperJerk", PERSISTENT | BACKUP},
{"LongTuningMinLowerJerk", PERSISTENT | BACKUP},
{"LongTuningCustomToggle", {PERSISTENT | BACKUP, INT, "0"}},
{"LongTuningAccelMax", {PERSISTENT | BACKUP, FLOAT, "2.0"}},
{"LongTuningVEgoStopping", {PERSISTENT | BACKUP, FLOAT, ".25"}},
{"LongTuningStoppingDecelRate", {PERSISTENT | BACKUP, FLOAT, ".40"}},
{"LongTuningJerkLimits", {PERSISTENT | BACKUP, FLOAT, "4.0"}},
{"LongTuningMinUpperJerk", {PERSISTENT | BACKUP, FLOAT, ".5"}},
{"LongTuningMinLowerJerk", {PERSISTENT | BACKUP, FLOAT, ".5"}},
{"DynamicExperimentalControl", PERSISTENT},
{"BlindSpot", PERSISTENT | BACKUP},
opendbc_repo
+1 -1
Submodule opendbc_repo updated: 9fa3d32297...57187bcb60
selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_live_tuning.cc
+13 -65
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@@ -11,40 +11,18 @@
struct ParamConfig {
QString param, title, desc, defaultValue;
float minVal = 0.0f, maxVal, step = 0.01f;
bool isList = false;
};
// Clipping limits on all tuning params to help prevent unsafe values.
// Clipping limits on all tuning params to prevent unsafe values.
static const std::vector<ParamConfig> PARAM_CONFIGS = {
{"LongTuningAccelMax", QObject::tr("Acceleration Max"), QObject::tr("Acceleration limit (m/s^2)"), "2.00", 0.5f, 2.0f, 0.1f},
{"LongTuningVEgoStopping", QObject::tr("Stopping Threshold"), QObject::tr("Velocity threshold for stopping behavior (m/s)"), "0.25", 0.05f, 0.5f, 0.01f},
{"LongTuningVEgoStarting", QObject::tr("Starting Threshold"), QObject::tr("Velocity threshold for starting behavior (m/s)"), "0.10", 0.05f, 0.25f, 0.01f},
{"LongTuningStoppingDecelRate", QObject::tr("Stopping Decel Rate"), QObject::tr("Deceleration rate when stopping (m/s²)"), "0.40", 0.01f, 0.8f, 0.01f},
{"LongTuningLongitudinalActuatorDelay", QObject::tr("Longitudinal Actuator Delay"), QObject::tr("Delay in which desired commands are executed by your vehicle."), "0.45", 0.3f, 0.5f, 0.01f},
{"LongTuningMinUpperJerk", QObject::tr("Min Upper Jerk"), QObject::tr("Minimum accel jerk limit (m/s³)"), "0.50", 0.5f, 3.0f, 0.1f},
{"LongTuningMinLowerJerk", QObject::tr("Min Lower Jerk"), QObject::tr("Minimum braking jerk limit (m/s³)"), "0.50", 0.5f, 5.0f, 0.1f},
{"LongTuningJerkLimits", QObject::tr("Dynamic Tune Jerk Max"), QObject::tr("Maximum jerk limits the tune cannot exceed (m/s³)"), "4.00", 2.0f, 5.0f, 0.1f},
{"LongTuningLookaheadJerkBp", QObject::tr("Predictive Jerk Breakpoints"), QObject::tr("Speed breakpoints for predictive jerk (m/s). Format: 2.0,5.0,20.0"), "2.0,5.0,20.0", 0.0f, 40.0f, 0.0f, true},
{"LongTuningLookaheadJerkUpperV", QObject::tr("Predictive Jerk Upper Values"), QObject::tr("Acceleration jerk values for predictive jerk (m/s³). Format: 0.25,0.5,1.0"), "0.25,0.5,1.0", 0.0f, 1.0f, 0.0f, true},
{"LongTuningLookaheadJerkLowerV", QObject::tr("Predictive Jerk Lower Values"), QObject::tr("Braking jerk values for predictive jerk (m/s³). Format: 0.05,0.10,0.3"), "0.05,0.10,0.3", 0.0f, 1.0f, 0.0f, true},
{"LongTuningUpperJerkV", QObject::tr("Upper Jerk Values"), QObject::tr("Acceleration jerk limited by speed (m/s³). Format: 2.0,2.0,1.2"), "2.0,2.0,1.2", 0.5f, 3.0f, 0.0f, true},
{"LongTuningLowerJerkV", QObject::tr("Lower Jerk Values"), QObject::tr("Braking jerk limited by speed (m/s³). Format: 3.0,3.0,2.5"), "3.0,3.0,2.5", 1.5f, 5.0f, 0.0f, true}
{"LongTuningStoppingDecelRate", QObject::tr("Stopping Decel Rate"), QObject::tr("Deceleration rate when stopping (m/s^2)"), "0.40", 0.01f, 0.8f, 0.01f},
{"LongTuningMinUpperJerk", QObject::tr("Min Upper Jerk"), QObject::tr("Minimum accel jerk limit (m/s^3)"), "0.50", 0.5f, 3.0f, 0.1f},
{"LongTuningMinLowerJerk", QObject::tr("Min Lower Jerk"), QObject::tr("Minimum braking jerk limit (m/s^3)"), "0.50", 0.5f, 8.0f, 0.1f},
{"LongTuningJerkLimits", QObject::tr("Dynamic Tune Jerk Max"), QObject::tr("Maximum lower jerk limit the tune cannot exceed (m/s^3)"), "4.00", 2.0f, 8.0f, 0.1f},
};
// Formats a list of comma-separated values with decimals, ensuring each value is within specified min and max limits, preventing erroneous inputs.
QString formatListWithDecimals(const QString &input, const QString &param = "") {
auto config = std::find_if(PARAM_CONFIGS.begin(), PARAM_CONFIGS.end(), [&param](const ParamConfig &c) { return param == c.param; });
float min_val = config != PARAM_CONFIGS.end() ? config->minVal : 0.0f, max_val = config != PARAM_CONFIGS.end() ? config->maxVal : 10.0f;
QStringList formatted;
for (const QString &val : input.split(",")) {
bool ok; float num = val.trimmed().toFloat(&ok);
if (ok)
formatted << QString::number(qBound(min_val, num, max_val), 'f', num == (int)num ? 1 : 2);
else
formatted << QString::number(max_val, 'f', max_val == (int)max_val ? 1 : 2);
}
return formatted.join(",");
}
QWidget* createButtonWidget(const QString &text, std::function<void()> callback, bool isPushButton = false) {
QWidget *widget = new QWidget(); QHBoxLayout *layout = new QHBoxLayout(widget);
QAbstractButton *btn = isPushButton ? (QAbstractButton*)new PushButtonSP(text) : (QAbstractButton*)new QPushButton(text);
@@ -56,9 +34,9 @@ QWidget* createButtonWidget(const QString &text, std::function<void()> callback,
HyundaiLiveTuning::HyundaiLiveTuning(QWidget *parent) : QWidget(parent) {
main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(0, 0, 0, 0); main_layout->setSpacing(0);
list = new ListWidgetSP(this, false);
list->addItem(createButtonWidget(tr("← Back"), [=]() { emit backPress(); }));
list->addItem(createButtonWidget(tr("Reset to Defaults"), [=]() { resetToDefaults(); }, true));
for (const auto &config : PARAM_CONFIGS) config.isList ? createListControl(config.param, config.title, config.desc) : createFloatControl(config.param, config.title, config.desc, config.minVal, config.maxVal, config.step);
list->addItem(createButtonWidget(tr("Back"), [=]() { emit backPress(); }));
list->addItem(createButtonWidget(tr("Reset to defaults"), [=]() { resetToDefaults(); }, true));
for (const auto &config : PARAM_CONFIGS) createFloatControl(config.param, config.title, config.desc, config.minVal, config.maxVal, config.step);
main_layout->addWidget(new ScrollViewSP(list, this));
}
@@ -101,48 +79,18 @@ void HyundaiLiveTuning::createFloatControl(const QString &param, const QString &
list->addItem(widget); spinner_controls[param.toStdString()] = value_label;
}
void HyundaiLiveTuning::createListControl(const QString &param, const QString &title, const QString &desc) {
QString current_value = QString::fromStdString(params.get(param.toStdString()));
if (current_value.isEmpty()) {
auto it = std::find_if(PARAM_CONFIGS.begin(), PARAM_CONFIGS.end(), [&param](const ParamConfig &c) { return c.param == param; });
if (it != PARAM_CONFIGS.end()) { current_value = it->defaultValue; params.put(param.toStdString(), current_value.toStdString()); }
}
auto control = new ButtonControlSP(title, tr("Edit"), desc + QString("<br><br><b>Current:</b> %1").arg(current_value));
control->showDescription();
connect(control, &ButtonControlSP::clicked, [=]() {
auto config = std::find_if(PARAM_CONFIGS.begin(), PARAM_CONFIGS.end(), [&param](const ParamConfig &c) { return c.param == param; });
QString prompt = tr("Enter exactly 3 comma-separated values:");
if (config != PARAM_CONFIGS.end()) {
prompt += QString("\nRange: %1 to %2").arg(QString::number(config->minVal, 'f', 1)).arg(QString::number(config->maxVal, 'f', 1));
}
QString new_value = InputDialog::getText(tr("Edit %1").arg(title), this, prompt, false, -1, QString::fromStdString(params.get(param.toStdString())));
if (!new_value.isEmpty() && new_value.split(",").length() == 3) { params.put(param.toStdString(), formatListWithDecimals(new_value, param).toStdString()); updateToggles(); }
else if (!new_value.isEmpty()) ConfirmationDialog(tr("Please enter exactly 3 comma-separated values."), tr("OK"), "", false, this).exec();
});
list->addItem(control); list_controls[param.toStdString()] = control;
}
void HyundaiLiveTuning::showEvent(QShowEvent *event) { updateToggles(); }
void HyundaiLiveTuning::updateToggles() {
for (const auto &pair : spinner_controls) {
QString param_value = QString::fromStdString(params.get(pair.first));
if (!param_value.isEmpty()) pair.second->setText(QString::number(param_value.toFloat(), 'f', 2));
}
for (const auto &pair : list_controls) {
QString param_value = QString::fromStdString(params.get(pair.first));
if (!param_value.isEmpty()) {
auto it = std::find_if(PARAM_CONFIGS.begin(), PARAM_CONFIGS.end(), [&pair](const ParamConfig &c) { return c.param.toStdString() == pair.first; });
if (it != PARAM_CONFIGS.end()) {
QString updated_desc = it->desc + QString("<br><br><b>Current:</b> %1").arg(param_value);
pair.second->setDescription(updated_desc);
pair.second->showDescription();
}
}
}
}
void HyundaiLiveTuning::resetToDefaults() {
for (const auto &config : PARAM_CONFIGS) params.put(config.param.toStdString(), config.defaultValue.toStdString());
updateToggles();
}
void HyundaiLiveTuning::showEvent(QShowEvent *event){
updateToggles();
}
selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_live_tuning.h
+1 -3
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@@ -34,10 +34,8 @@ private:
QVBoxLayout *main_layout;
ListWidgetSP *list;
std::map<std::string, QLabel*> spinner_controls;
std::map<std::string, ButtonControlSP*> list_controls;
void resetToDefaults();
void createFloatControl(const QString &param, const QString &title, const QString &desc,
float min_val, float max_val, float step = 0.01f);
void createListControl(const QString &param, const QString &title, const QString &desc);
float min_val, float max_val, float step = 0.01f);
};
sunnypilot/selfdrive/car/interfaces.py
+1 -7
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@@ -53,18 +53,12 @@ def get_init_params(params) -> list[dict[str, str]]:
keys: list = [
"HyundaiLongitudinalTuning",
"LongTuningCustomToggle",
"LongTuningAccelMin",
"LongTuningVEgoStopping",
"LongTuningVEgoStarting",
"LongTuningStoppingDecelRate",
"LongTuningLongitudinalActuatorDelay",
"LongTuningMinUpperJerk",
"LongTuningMinLowerJerk",
"LongTuningJerkLimits",
"LongTuningLookaheadJerkBp",
"LongTuningLookaheadJerkUpperV",
"LongTuningLookaheadJerkLowerV",
"LongTuningUpperJerkV",
"LongTuningLowerJerkV",
]
return [{k: params.get(k, encoding='utf8') or "0"} for k in keys]
sunnypilot/selfdrive/controls/lib/param_store.py
+1 -7
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@@ -24,18 +24,12 @@ class ParamStore:
brand_params.extend([
"HyundaiLongitudinalTuning",
"LongTuningCustomToggle",
"LongTuningAccelMin",
"LongTuningVEgoStopping",
"LongTuningVEgoStarting",
"LongTuningStoppingDecelRate",
"LongTuningLongitudinalActuatorDelay",
"LongTuningMinUpperJerk",
"LongTuningMinLowerJerk",
"LongTuningJerkLimits",
"LongTuningLookaheadJerkBp",
"LongTuningLookaheadJerkUpperV",
"LongTuningLookaheadJerkLowerV",
"LongTuningUpperJerkV",
"LongTuningLowerJerkV",
])
self.keys = universal_params + brand_params