From 54ca4b537d7834668360620171c0ba01cbe22d7d Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Sun, 21 Sep 2025 12:48:32 -0400
Subject: [PATCH] VisualStyleBlendThreshold

---
 common/params_keys.h                          |  1 +
 selfdrive/ui/qt/onroad/model.cc               |  5 +++--
 .../qt/offroad/settings/visuals_panel.cc      | 19 +++++++++++++++++--
 .../qt/offroad/settings/visuals_panel.h       |  1 +
 4 files changed, 22 insertions(+), 4 deletions(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index c7ef66106b..21f475ea9c 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -164,6 +164,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"VisualStyle", {PERSISTENT | BACKUP, INT, "0"}},
     {"VisualStyleBlend", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"VisualStyleBlendThreshold", {PERSISTENT | BACKUP, INT, "20"}},
 
     // MADS params
     {"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
diff --git a/selfdrive/ui/qt/onroad/model.cc b/selfdrive/ui/qt/onroad/model.cc
index bfd3d09b36..821e882d3a 100644
--- a/selfdrive/ui/qt/onroad/model.cc
+++ b/selfdrive/ui/qt/onroad/model.cc
@@ -518,6 +518,7 @@ bool ModelRenderer::mapToScreen(float in_x, float in_y, float in_z, QPointF *out
 
   int visual_style = QString::fromStdString(Params().get("VisualStyle")).toInt();
   int visual_blend = QString::fromStdString(Params().get("VisualStyleBlend")).toInt();
+  float visual_blend_threshold = QString::fromStdString(Params().get("VisualStyleBlendThreshold")).toFloat();
 
   // Force top-down if VisualStyle == 3
   if (visual_style == 3) {
@@ -532,9 +533,9 @@ bool ModelRenderer::mapToScreen(float in_x, float in_y, float in_z, QPointF *out
     static double last_t = millis_since_boot();
 
     // Hysteresis logic
-    if (target_blend < 0.5f && blend_speed_mph > 50.0f) {
+    if (target_blend < 0.5f && blend_speed_mph > visual_blend_threshold) {
       target_blend = 1.0f;  // switch to 2D
-    } else if (target_blend > 0.5f && blend_speed_mph < 45.0f) {
+    } else if (target_blend > 0.5f && blend_speed_mph < (visual_blend_threshold - 5)) {
       target_blend = 0.0f;  // switch back to 3D
     }
 
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
index 37aeb33391..b3d3d36e32 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
@@ -44,8 +44,8 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
     },
     {
       "VisualStyleBlend",
-      tr("Morph to Overhead Visual Style"),
-      tr("Morphing to Overhead view when using Minimal/Vision visual style."),
+      tr("Blend to Overhead Visual Style"),
+      tr("Blend to Overhead view when using Minimal/Vision visual style."),
       "../assets/offroad/icon_monitoring.png",
       false,
     },
@@ -75,6 +75,21 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
     param_watcher->addParam(param);
   }
 
+  // Visuals: VisualStyleBlend Threshold
+  visual_style_threshold_settings = new OptionControlSP("VisualStyleBlendThreshold", tr("Adjust Visual Style Blend Threshold"),
+                                      tr("Adjust the threshold when Visual Style Blend activates."),
+                                      "", {10, 40}, 5, false, nullptr, false);
+
+  connect(visual_style_threshold_settings, &OptionControlSP::updateLabels, [=]() {
+    int value = QString::fromStdString(params.get("VisualStyleBlendThreshold")).toInt();
+    visual_style_threshold_settings->setLabel(QString::number(value) + " mph");
+  });
+
+  int value = QString::fromStdString(params.get("VisualStyleBlendThreshold")).toInt();
+  visual_style_threshold_settings->setLabel(QString::number(value) + " mph");
+
+  list->addItem(visual_style_threshold_settings);
+
   // Visuals: Visual Style
   std::vector<QString> visual_style_settings_texts{tr("Default"), tr("Minimal"), tr("Vision"), tr("Overhead")};
   visual_style_settings = new ButtonParamControlSP(
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h
index 9cb3b55052..becf65fe15 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h
@@ -30,4 +30,5 @@ protected:
  ButtonParamControlSP *chevron_info_settings;
  ButtonParamControlSP *dev_ui_settings;
  ButtonParamControlSP *visual_style_settings;
+ OptionControlSP *visual_style_threshold_settings;
 };