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Remove HKG angle control tuning components and dependencies

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- Deleted HKG-specific angle tuning settings and related UI elements.
    - Removed tuning parameter handling and smoothing logic from carcontroller.
    - Simplifies codebase and eliminates unused parameters.
This commit is contained in:
DevTekVE
2026-04-03 15:33:57 +02:00
parent 78de201ce7
commit 59fb84f0d5
4 changed files with 1 additions and 134 deletions
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common/params_keys.h
-7
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@@ -276,11 +276,4 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"TorqueParamsOverrideEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
{"TorqueParamsOverrideFriction", {PERSISTENT | BACKUP, FLOAT, "0.1"}},
{"TorqueParamsOverrideLatAccelFactor", {PERSISTENT | BACKUP, FLOAT, "2.5"}},
// Tuning keys
{"EnableHkgTuningAngleSmoothingFactor", {PERSISTENT | BACKUP, BOOL, "1"}},
{"HkgTuningAngleMinTorqueReductionGain", {PERSISTENT | BACKUP, INT, "10"}},
{"HkgTuningAngleMaxTorqueReductionGain", {PERSISTENT | BACKUP, INT, "100"}},
{"HkgTuningAngleActiveTorqueReductionGain", {PERSISTENT | BACKUP, INT, "100"}},
{"HkgTuningOverridingCycles", {PERSISTENT | BACKUP, INT, "17"}},
};
opendbc_repo
+1 -1
Submodule opendbc_repo updated: 1b3e74be96...ce7b2fd125
selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.cc
-87
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@@ -1,87 +0,0 @@
/**
* Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
*
* This file is part of sunnypilot and is licensed under the MIT License.
* See the LICENSE.md file in the root directory for more details.
*/
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.h"
#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
AngleTunningSettings::AngleTunningSettings(QWidget *parent) : QWidget(parent) {
QVBoxLayout *main_layout = new QVBoxLayout(this);
main_layout->setContentsMargins(50, 20, 50, 20);
main_layout->setSpacing(20);
// Back button
PanelBackButton *back = new PanelBackButton();
connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
main_layout->addWidget(back, 0, Qt::AlignLeft);
auto *list = new ListWidgetSP(this, false);
main_layout->addWidget(new QWidget());
enableHkgAngleSmoothingFactor = new ExpandableToggleRow("EnableHkgTuningAngleSmoothingFactor", tr("HKG Angle Smoothing Factor"), tr("Applies EMA (Exponential Moving Average) to the desired angle steering and avoid overcorrections."), "../assets/offroad/icon_blank.png");
list->addItem(enableHkgAngleSmoothingFactor);
auto first_row = new QHBoxLayout();
hkgTuningOverridingCycles = new OptionControlSP("HkgTuningOverridingCycles", tr("Override Ramp-Down Cycles"), tr("Number of cycles to ramp down the current amount of torque on the steering wheel.<br/>A smaller value means a faster override by the user (less effort)"), "../assets/offroad/icon_blank.png", {10, 30}, 1);
connect(hkgTuningOverridingCycles, &OptionControlSP::updateLabels, hkgTuningOverridingCycles, [=]() {
this->updateToggles(offroad);
});
first_row->addWidget(hkgTuningOverridingCycles);
hkgAngleMinTorque = new OptionControlSP("HkgTuningAngleMinTorqueReductionGain", tr("Override Steering Effort"), tr("Sets the steering effort percentage used when the driver is overriding lateral control.<br/>Higher values increase resistance and make the wheel feel stiffer."), "../assets/offroad/icon_blank.png", {5, 60}, 1);
connect(hkgAngleMinTorque, &OptionControlSP::updateLabels, hkgAngleMinTorque, [=]() {
this->updateToggles(offroad);
});
first_row->addWidget(hkgAngleMinTorque);
list->addItem(first_row);
auto second_row = new QHBoxLayout();
hkgAngleActiveTorque = new OptionControlSP("HkgTuningAngleActiveTorqueReductionGain", tr("Min Active Torque"), tr("Torque applied when lateral control is active but the vehicle is not turning.<br/>Used to maintain lane centering on straight paths when no user input is detected."), "../assets/offroad/icon_blank.png", {10, 100}, 1);
connect(hkgAngleActiveTorque, &OptionControlSP::updateLabels, hkgAngleActiveTorque, [=]() {
this->updateToggles(offroad);
});
second_row->addWidget(hkgAngleActiveTorque);
hkgAngleMaxTorque = new OptionControlSP("HkgTuningAngleMaxTorqueReductionGain", tr("Max Torque Allowance"), tr("Sets the maximum torque reduction percentage the controller can apply during normal lateral control.<br/>"), "../assets/offroad/icon_blank.png", {10, 100}, 1);
connect(hkgAngleMaxTorque, &OptionControlSP::updateLabels, hkgAngleMaxTorque, [=]() {
this->updateToggles(offroad);
});
second_row->addWidget(hkgAngleMaxTorque);
list->addItem(second_row);
QObject::connect(uiState(), &UIState::offroadTransition, this, &AngleTunningSettings::updateToggles);
main_layout->addWidget(new ScrollViewSP(list, this));
auto *warning = new QLabel(tr("Reboot required for settings to apply; Tap on each setting to see more details."));
warning->setStyleSheet("font-size: 30px; font-weight: 500; font-family: 'Noto Color Emoji'; color: orange;");
main_layout->addWidget(warning, 0, Qt::AlignCenter);
}
void AngleTunningSettings::showEvent(QShowEvent *event) {
updateToggles(offroad);
}
void AngleTunningSettings::updateToggles(bool _offroad) {
auto HkgAngleSmoothingFactorValue = params.getBool("EnableHkgTuningAngleSmoothingFactor");
enableHkgAngleSmoothingFactor->toggleFlipped(HkgAngleSmoothingFactorValue);
auto HkgAngleMinTorqueValue = QString::fromStdString(params.get("HkgTuningAngleMinTorqueReductionGain")).toInt();
hkgAngleMinTorque->setLabel(QString::number(HkgAngleMinTorqueValue)+"%");
auto HkgAngleActiveTorqueValue = QString::fromStdString(params.get("HkgTuningAngleActiveTorqueReductionGain")).toInt();
hkgAngleActiveTorque->setLabel(QString::number(HkgAngleActiveTorqueValue)+"%");
auto HkgAngleMaxTorqueValue = QString::fromStdString(params.get("HkgTuningAngleMaxTorqueReductionGain")).toInt();
hkgAngleMaxTorque->setLabel(QString::number(HkgAngleMaxTorqueValue)+"%");
auto HkgTuningOverridingCyclesValue = QString::fromStdString(params.get("HkgTuningOverridingCycles")).toInt();
hkgTuningOverridingCycles->setLabel(QString::number(HkgTuningOverridingCyclesValue));
offroad = _offroad;
}
selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.h
-39
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@@ -1,39 +0,0 @@
/**
* Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
*
* This file is part of sunnypilot and is licensed under the MIT License.
* See the LICENSE.md file in the root directory for more details.
*/
#pragma once
#include "selfdrive/ui/qt/util.h"
#include "selfdrive/ui/sunnypilot/ui.h"
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
#include "selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h"
class AngleTunningSettings : public QWidget {
Q_OBJECT
public:
explicit AngleTunningSettings(QWidget *parent = nullptr);
void showEvent(QShowEvent *event) override;
signals:
void backPress();
public slots:
void updateToggles(bool _offroad);
private:
Params params;
bool offroad;
ExpandableToggleRow* enableHkgAngleSmoothingFactor;
OptionControlSP* hkgAngleMinTorque;
OptionControlSP* hkgAngleActiveTorque;
OptionControlSP* hkgAngleMaxTorque;
OptionControlSP* hkgTuningOverridingCycles;
};