mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-10-01 06:03:43 +08:00
Code Issues Packages Projects Releases Wiki Activity

Refactor and enhance HKG angle tuning logic.

Browse Source 
Introduced a toggle for angle smoothing factor and renamed related parameters for clarity. Refactored backend settings to use new parameter names and expanded smoothing matrices for better tuning granularity. Updated UI elements to reflect these changes, emphasizing usability and consistency.
This commit is contained in:
DevTekVE
2025-06-28 21:25:10 +02:00
parent b9e74254bd
commit 95d36b9ba2
5 changed files with 27 additions and 24 deletions
Download Patch File Download Diff File Expand all files Collapse all files
common/params_keys.h
+3 -3
View File
@@ -200,9 +200,9 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
{"RoadName", CLEAR_ON_ONROAD_TRANSITION},
// Tuning keys
{"HkgTuningAngleSmoothingFactor", PERSISTENT | BACKUP},
{"HkgTuningAngleMinTorque", PERSISTENT | BACKUP},
{"HkgTuningAngleMaxTorque", PERSISTENT | BACKUP},
{"EnableHkgTuningAngleSmoothingFactor", PERSISTENT | BACKUP},
{"HkgTuningAngleMinTorqueReductionGain", PERSISTENT | BACKUP},
{"HkgTuningAngleMaxTorqueReductionGain", PERSISTENT | BACKUP},
{"HkgTuningOverridingCycles", PERSISTENT | BACKUP},
{"HkgAngleLiveTuning", CLEAR_ON_MANAGER_START}
opendbc_repo
+1 -1
Submodule opendbc_repo updated: e60129c6bf...6f64fefe3c
selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.cc
+18 -16
View File
@@ -21,31 +21,33 @@ AngleTunningSettings::AngleTunningSettings(QWidget *parent) : QWidget(parent) {
auto *list = new ListWidgetSP(this, false);
// hkgAngleLiveTuning = new ParamControlSP("HkgAngleLiveTuning", tr("HKG Angle Live Tuning"), tr("Enable live tuning of the steering wheel angle."), "../assets/offroad/icon_blank.png");
// list->addItem(hkgAngleLiveTuning);
main_layout->addWidget(new QWidget());
auto *warning = new QLabel(tr("Reboot required for settings to apply"));
warning->setStyleSheet("font-size: 60px; font-weight: 500; font-family: 'Noto Color Emoji'; color: orange;");
main_layout->addWidget(warning, 0, Qt::AlignCenter);
list->addItem(horizontal_line());
enableHkgAngleSmoothingFactor = new ExpandableToggleRow("EnableHkgTuningAngleSmoothingFactor", tr("HKG Angle Smoothing Factor"), tr("Applies EMA (Exponential Moving Average) to the desired angle steering."), "../assets/offroad/icon_blank.png");
list->addItem(enableHkgAngleSmoothingFactor);
list->addItem(horizontal_line());
auto first_row = new QHBoxLayout();
hkgAngleSmoothingFactor = new OptionControlSP("HkgTuningAngleSmoothingFactor", tr("HKG Angle Smoothing Factor"), tr("Applies EMA (Exponential Moving Average) to the desired angle steering.<br/>A value closer to 1 means no smoothing.<br/>A value closer to 0 means very smooth (and thus likely too 'soft' steering).<br/>After 50mph/80km/h this setting is virtually always 1."), "../assets/offroad/icon_blank.png", {0, 10}, 1);
connect(hkgAngleSmoothingFactor, &OptionControlSP::updateLabels, hkgAngleSmoothingFactor, [=]() {
this->updateToggles(offroad);
});
first_row->addWidget(hkgAngleSmoothingFactor);
hkgTuningOverridingCycles = new OptionControlSP("HkgTuningOverridingCycles", tr("HKG Tuning Overriding 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);
list->addItem(first_row);
list->addItem(horizontal_line());
auto second_row = new QHBoxLayout();
hkgAngleMinTorque = new OptionControlSP("HkgTuningAngleMinTorque", tr("HKG Angle Min ACTIVE Torque"), tr("Minimum torque to apply to the steering wheel when controls are active (and not being overridden by the user).<br/>Must be smaller than max."), "../assets/offroad/icon_blank.png", {0, 250}, 5);
hkgAngleMinTorque = new OptionControlSP("HkgTuningAngleMinTorqueReductionGain", tr("HKG Angle Min ACTIVE Torque"), tr("Minimum torque to apply to the steering wheel when controls are active (and not being overridden by the user).<br/>Must be smaller than max."), "../assets/offroad/icon_blank.png", {0, 100}, 5);
connect(hkgAngleMinTorque, &OptionControlSP::updateLabels, hkgAngleMinTorque, [=]() {
this->updateToggles(offroad);
});
second_row->addWidget(hkgAngleMinTorque);
hkgAngleMaxTorque = new OptionControlSP("HkgTuningAngleMaxTorque", tr("HKG Angle Max Torque"), tr("Maximum torque to apply to the steering wheel.<br/>Must be bigger than min."), "../assets/offroad/icon_blank.png", {25, 250}, 5);
hkgAngleMaxTorque = new OptionControlSP("HkgTuningAngleMaxTorqueReductionGain", tr("HKG Angle Max Torque"), tr("Maximum torque to apply to the steering wheel.<br/>Must be bigger than min."), "../assets/offroad/icon_blank.png", {10, 100}, 5);
connect(hkgAngleMaxTorque, &OptionControlSP::updateLabels, hkgAngleMaxTorque, [=]() {
this->updateToggles(offroad);
});
@@ -62,14 +64,14 @@ void AngleTunningSettings::showEvent(QShowEvent *event) {
}
void AngleTunningSettings::updateToggles(bool _offroad) {
auto HkgAngleSmoothingFactorValue = QString::fromStdString(params.get("HkgTuningAngleSmoothingFactor")).toDouble();
hkgAngleSmoothingFactor->setLabel(QString::number(HkgAngleSmoothingFactorValue / 10, 'f', 1));
auto HkgAngleSmoothingFactorValue = params.getBool("EnableHkgTuningAngleSmoothingFactor");
enableHkgAngleSmoothingFactor->toggleFlipped(HkgAngleSmoothingFactorValue);
auto HkgAngleMinTorqueValue = QString::fromStdString(params.get("HkgTuningAngleMinTorque")).toInt();
hkgAngleMinTorque->setLabel(QString::number(HkgAngleMinTorqueValue));
auto HkgAngleMinTorqueValue = QString::fromStdString(params.get("HkgTuningAngleMinTorqueReductionGain")).toInt();
hkgAngleMinTorque->setLabel(QString::number(HkgAngleMinTorqueValue)+"%");
auto HkgAngleMaxTorqueValue = QString::fromStdString(params.get("HkgTuningAngleMaxTorque")).toInt();
hkgAngleMaxTorque->setLabel(QString::number(HkgAngleMaxTorqueValue));
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));
selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.h
+2 -1
View File
@@ -11,6 +11,7 @@
#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
@@ -30,7 +31,7 @@ private:
Params params;
bool offroad;
OptionControlSP* hkgAngleSmoothingFactor;
ExpandableToggleRow* enableHkgAngleSmoothingFactor;
OptionControlSP* hkgAngleMinTorque;
OptionControlSP* hkgAngleMaxTorque;
OptionControlSP* hkgTuningOverridingCycles;
system/manager/manager.py
+3 -3
View File
@@ -67,9 +67,9 @@ def manager_init() -> None:
("ModelManager_ModelsCache", ""),
("NeuralNetworkLateralControl", "0"),
("QuietMode", "0"),
("HkgTuningAngleSmoothingFactor", "0"),
("HkgTuningAngleMinTorque", "25"),
("HkgTuningAngleMaxTorque", "250"),
("EnableHkgTuningAngleSmoothingFactor", "1"),
("HkgTuningAngleMinTorqueReductionGain", "60"),
("HkgTuningAngleMaxTorqueReductionGain", "100"),
("HkgTuningOverridingCycles", "17"),
("HkgAngleLiveTuning", "0"),
]