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Merge branch 'nnlc-lateral-jerk' into master-dev-c3

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This commit is contained in:
Jason Wen
2024-07-08 09:22:08 -04:00
parent fc1a294d5e 8e256ee6c5
commit d9bc6fe102
2 changed files with 46 additions and 2 deletions
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CHANGELOGS.md
+4 -1
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@@ -28,6 +28,10 @@ sunnypilot - 0.9.8.0 (2024-xx-xx)
* UPDATED: Driving Model Selector v5
* NEW❗: Driving Model additions
* Notre Dame (July 01, 2024) - NDv3
* UPDATED: Neural Network Lateral Control (NNLC)
* NEW❗: Remove Lateral Jerk Response (Alpha)
*
* FIXED: Hotfix for "lazy" steering performance in tighter curves thanks to twilsonco!
* UPDATED: Toyota: Continued support for Smart DSU (SDSU) and Radar CAN Filter
* In response to the official deprecation of support for Smart DSU (SDSU) and Radar CAN Filter in the upstream ([commaai/openpilot#32777](https://github.com/commaai/openpilot/pull/32777)), sunnypilot will continue maintaining software support for Smart DSU (SDSU) and Radar CAN Filter
* UPDATED: Continued support for Mapbox navigation
@@ -113,7 +117,6 @@ sunnypilot - 0.9.7.1 (2024-06-13)
* Reset self-service access tokens for Mapbox, Amap, and Google Maps
* UPDATED: Upstream native support for Gap Adjust Cruise
* UPDATED: Neural Network Lateral Control (NNLC)
* FIXED: Hotfix for "lazy" steering performance in tighter curves thanks to twilsonco!
* Due to upstream changes with platform simplifications, most platforms will match and fallback to combined platform model
* This will be updated when the new mapping of platforms are restructured (thanks @twilsonco 😉)
* UI Updates
selfdrive/ui/qt/offroad/sunnypilot/sunnypilot_settings.cc
+42 -1
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@@ -59,12 +59,24 @@ SunnypilotPanel::SunnypilotPanel(QWidget *parent) : QFrame(parent) {
"",
"../assets/offroad/icon_blank.png",
},
{
"NNFFNoLateralJerk",
tr("NNLC: Remove Lateral Jerk Response (Alpha)"),
tr("When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response."),
"../assets/offroad/icon_blank.png",
},
{
"EnforceTorqueLateral",
tr("Enforce Torque Lateral Control"),
tr("Enable this to enforce sunnypilot to steer with Torque lateral control."),
"../assets/offroad/icon_blank.png",
},
{
"TorqueLateralJerk",
tr("Lateral Jerk with Torque Lateral Control (Alpha)"),
tr("Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection."),
"../assets/offroad/icon_blank.png",
},
{
"LiveTorque",
tr("Enable Self-Tune"),
@@ -312,6 +324,17 @@ SunnypilotPanel::SunnypilotPanel(QWidget *parent) : QFrame(parent) {
}
});
connect(toggles["EnforceTorqueLateral"], &ToggleControl::toggleFlipped, [=](bool state) {
if (state) {
toggles["NNFF"]->setEnabled(false);
params.putBool("NNFF", false);
toggles["NNFF"]->refresh();
} else {
toggles["NNFF"]->setEnabled(true);
toggles["NNFF"]->refresh();
}
});
// trigger updateToggles() when toggleFlipped
for (const auto& updateToggleName : updateTogglesNames) {
if (toggles.find(updateToggleName) != toggles.end()) {
@@ -541,7 +564,7 @@ void SunnypilotPanel::updateToggles() {
}
// toggle names to update when EnforceTorqueLateral is flipped
std::vector<std::string> torqueLateralGroup{"CustomTorqueLateral", "LiveTorque", "LiveTorqueRelaxed", "TorquedOverride"};
std::vector<std::string> torqueLateralGroup{"CustomTorqueLateral", "TorqueLateralJerk", "LiveTorque", "LiveTorqueRelaxed", "TorquedOverride"};
for (const auto& torqueLateralToggle : torqueLateralGroup) {
if (toggles.find(torqueLateralToggle) != toggles.end()) {
if (nnff_toggle->isToggled()) {
@@ -558,6 +581,24 @@ void SunnypilotPanel::updateToggles() {
}
}
// toggle names to update when EnforceTorqueLateral is flipped
std::vector<std::string> nnffGroup{"NNFFNoLateralJerk"};
for (const auto& nnffToggle : nnffGroup) {
if (toggles.find(nnffToggle) != toggles.end()) {
if (enforce_torque_lateral->isToggled()) {
toggles[nnffToggle]->setVisible(false);
toggles[nnffToggle]->setEnabled(false);
}
}
}
for (const auto& nnffToggle : nnffGroup) {
if (toggles.find(nnffToggle) != toggles.end()) {
toggles[nnffToggle]->setVisible(nnff_toggle->isToggled());
toggles[nnffToggle]->setEnabled(nnff_toggle->isToggled());
}
}
if (enforce_torque_lateral->isToggled()) {
live_torque_relaxed->setVisible(live_torque->isToggled());
torqued_override->setVisible(custom_torque_lateral->isToggled());