Introduced a new parameter, `HkgTuningAngleSmoothingFactor`, to apply exponential moving average (EMA) smoothing to steering angle changes, reducing sudden adjustments. Added associated UI controls, parameter persistence, and integration into Hyundai carcontroller logic for improved steering stability.
Wrap the pygame import in a try-except block to catch ImportError. This prevents the script from crashing and provides a clear message prompting the user to install pygame if it's missing.
Remove "inputs" package and update "pygame" dependency
The "inputs" package has been removed from the lockfile and dependency list, while "pygame" is now included universally without the "dev" extra marker. This change simplifies dependencies and ensures consistency across environments.
Update dependencies: replace 'inputs' with 'pygame'
Replaced the 'inputs' library with 'pygame' for joystickd dependencies in `pyproject.toml`. Additionally, removed a redundant 'pygame' entry from the general dependencies.
Ugly, I know, but soundd is unhappy with joystick
Allowing lat with mads
Invert steering input for joystick control
The steering axis input is now multiplied by -1 to reverse its direction. This ensures correct handling of the left stick's horizontal input, aligning behavior with expected control dynamics.
Refactor joystick control to use pygame for broader support
Replaced the `inputs` library with `pygame` for joystick handling, providing improved compatibility with Xbox and PlayStation controllers. Added initialization, adaptive mappings, deadzone handling, and enhanced event processing for robust joystick operation. Updated README with dependencies and usage information for Xbox controllers.
* Reapply "Hyundai: custom longitudinal tuning" (#892)
This reverts commit 68c593db5f.
* fix panel behavior
* dynamic description
* try to merge and use the same scrollview
* fix for all to update
* dynamic update and fix description
* minimize changes for all brands
* init
* minimize changes for all brands
* more
* even less diff
* more
* even less diff
* more less
* wow srsly
* more less
* wow srsly
* Maybe I was asleep but somehow it worked.
* Maybe I was asleep but somehow it worked.
* 70/30 split
* 60/35 split
* 67:33 split
* use Sqrt for tiny values to increase factor. Oh, also add a test file.
* use Sqrt for tiny values to increase factor. Oh, also add a test file.
* use Sqrt for tiny values to increase factor. Oh, also add a test file.
* Raise these to restart tests
* Raise these to restart tests
* Update jerk calculation mimicking j_ego math.
* README.md
* Update timestep
* Fix test
* Readability
* Lower time
* Add higher limits for CANFD
* Send these as a floating object. update comments to add TODO msg.
* Conditional flags
* yes its a little weird but heres why:
` "aReqValue": long_state.accel_value if enabled else a_val`
its only to not have merge conflicts with syncs from this file, because if not enabled a_val is already at 0 anyways.
* Make it easier to read
* Chronological order
* Trigger rebuild
* This is an internal test on my end. Disregard, for now
* fw version for my car...
* remove fw version as that was a test
* bump submodules
* refactor that while passing internal tests
* bump safety mutation test
* all should match 50 Hz
* bump safety mutation test
* match stock behavior for accel
* do our own clipping
* apply upper/lower dynamically
* bump test
* bump test
* Higher lower limit
* move desired accel force zero in tuning controller
* bump
* bump
* abs it here
* fix logic
* make sure it resets to 0, enforced in safety
* Test a few things
* Higher jerk for VOACC
* Elantra specific
* raise `off` to stock
* bump opendbc test
* allow jerk calculations at all times
* bump
* bump
* match aReqVale
* we dont need such high accel jerk when above 20m/s. This is cruise control, not a racecar.
* 0.45 default long actuator delay
* align type hint
* add lower jerk multiplier for HYUNDAI_IONIQ
* Change min jerk
* should be float
* Change min jerk
* Change min jerk upper
* Change max jerk upper
* Change max jerk upper
* Change max jerk upper
* step + threshold + first order filter to smooth
* constants
* nah
* multiplier to 1.5
* step updates for parabolic accel/braking
* step updates for parabolic accel/braking
* even less
* test multiplier
* Merge remote-tracking branch 'sunnypilot/opendbc/master-new' into HKG-long-tune
* back to default delay for now
* update test
* update config
* update test
* update config.py
* update test
* Remove stoppingDecelRate **No need for this anymore**
* multiplier to 1.0
* Variable lower dependency
* Variable lower dependency
* Variable lower jerk minimum
* Variable lower jerk minimum
planned_accel -> desired_acel
* Revert some scaling
* .01 here
* .01 here
* try even smoother stopping
* missed a `tuning` here that instead calls itself to inf.
* what is math
* Red Diff
* Red Diff
* bring some back
* bring some back
* stronger when needed
* something simple
* simplify more
* simplify more
* dont use future
* whoops
* why
* reset
* Refactor longitudinal controller for better jerk handling
Revised `calculate_a_value` and jerk processing logic to improve acceleration and jerk handling, particularly under dynamic conditions. Adjusted test cases to cover the new logic.
* Refactor longitudinal controller for better jerk handling
Revised `calculate_a_value` and jerk processing logic to improve acceleration and jerk handling, particularly under dynamic conditions. Adjusted test cases to cover the new logic.
* Refactor longitudinal controller for better jerk handling
Revised `calculate_a_value` and jerk processing logic to improve acceleration and jerk handling, particularly under dynamic conditions. Adjusted test cases to cover the new logic.
* Adjust lower_jerk interpolation for improved accuracy
* Lowered the acceleration error threshold from -0.01 to -0.001
* Adjust jerk interpolation thresholds for Hyundai tuning.
Updated the interpolation range for smaller acceleration errors.
* Move it up
* -.03 not -.05
* radarUnavailable = higher limit patch
* Commit the real change
* Updated the interpolation values and logic for lower_jerk to refine acceleration behavior.
* Updated the interpolation values and logic for lower_jerk to refine acceleration behavior.
* Updated the interpolation values and logic for lower_jerk to refine acceleration behavior.
* Updated the interpolation values and logic for lower_jerk to refine acceleration behavior.
* THIS. THIS WILL STOP FOR LEADS
* Higher for VOACC
* Higher for VOACC
* Rename `make_jerk` to `calculate_jerk` in test cases.
* Adjust jerk tuning for Hyundai longitudinal control
Updated the interpolation table for lower jerk values to improve deceleration handling. This adjustment refines control behavior during higher deceleration requests.
* Updated the interpolation breakpoint from -0.03 to -0.025
* Adjust longitudinal control jerk tuning for smoother response
Updated interpolation values in the jerk tuning logic to improve acceleration smoothing in Hyundai longitudinal control. These changes aim to provide a more consistent and predictable driving experience, particularly during deceleration scenarios.
* Handle radar unavailability in longitudinal tuning check
* Introduce `toggleDisableMsg` to streamline determining toggle states and descriptions.
* `sunnypilot`
* `Refactor longitudinal control acceleration and jerk handling`
Removed unused `FirstOrderFilter` and simplified acceleration and jerk calculations for improved clarity and maintainability. Adjusted logic to replace redundant return statements, streamline jerk computation, and reduce unnecessary dependencies.
* `Refactor longitudinal control acceleration and jerk handling`
Removed unused `FirstOrderFilter` and simplified acceleration and jerk calculations for improved clarity and maintainability. Adjusted logic to replace redundant return statements, streamline jerk computation, and reduce unnecessary dependencies.
* Simplify test to be straight to the point.
* Adjust upper_speed_factor and integrate ramp_update logic
* Adjust upper_speed_factor and integrate ramp_update logic
* Adjust upper_speed_factor and integrate ramp_update logic
* Refine acceleration and jerk tuning logic.
* greater than 0
* bump
* bring back ramp update for jerk upper
* Update opendbc_repo
* Revert "Update opendbc_repo"
This reverts commit b790387c90.
* bump
* bump
* bump
* using count seems to work better
* Refine jerk tuning logic and expand test coverage
* bump vals
* fix logic
* Adjust jerk tuning parameters for Hyundai longitudinal control
* retry lfs check
* bump submodule
* Fix acceleration blending and enhance test coverage
* Update lower_jerk breakpoints
* bump
* Adjust lower jerk parameters and include accel_cmd condition
* Adjust vars
* "Adjust Hyundai longitudinal jerk limits and tuning logic"
* Adjust jerk limits and tuning logic for better control
* Update Hyundai longitudinal tuning and add dynamic jerk logic
Refactored longitudinal configuration to include "lookahead" parameters and revised "jerk_limits" for improved tuning flexibility. Implemented dynamic jerk adaptation logic (Gen1) for smoother braking and acceleration transitions.
* Adjust Hyundai longitudinal control parameters for tuning
* bump to original branch
* QSize Policy to stretch toggle to screen size
* bump
* completely blocked xD
* Sunnypilot -> openpilot
* Whitespace
* Clean up toggle name
* Still allow ramp while in standstill for EV
* Adjust Kia Niro EV tuning parameters for smoother control
* self.cp.flags
* bump submodule
* bump
* Remove ramp for lower desired jerk
* update README.md
* update README.md
* Adjust lookahead_jerk_lower_v values in Hyundai longitudinal config.
* update tuning
* Update tune one last time to vals from device which are much smoother.
* Accel error
* bump
* fix
* rename flag and slight cleanup
* start ui stuff
* long_state -> tuning
* Prep for clean up
* small changes
* less in main
* no longer
* format
* bump
* init panel
* expose signal for other panels to interact with
* split into its own
* unused
* move around
* actually modify CP_SP
* fix offroad transition
* rename
* back
* don't update unless we're looking at it
* move around
* use min length
* do this
* whoops
* move
* bump
* bump
* this is fine
* bump
---------
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Co-authored-by: DevTekVE <devtekve@gmail.com>
Co-authored-by: royjr <royjr96@gmail.com>
* Adding capabilities to route localProxy via sunnylink
* Undo
* Thx lint
* get api token
* cert is not valid when it's an IP. Still use cert, but don't validate
Adjust the spinner vertical position when displaying text or a progress bar
- When displaying the progress bar, center the comma logo and spinner in the middle of the screen
- When displaying text, center the entire content vertically
Also updated `wrap_text` to not include an empty line in the array if it's the first line, so that `wrap_text("")` always returns `[]`
- Wrap text onto separate lines
- Increase font size to be closer to Qt
- Remove extra letter spacing - 0.0 should use font default spacing, and this is used in `wrap_text`
Will fix vertical alignment separately, as both the text and progress bar layouts need to be considered
* ui(raylib): reduce spinner rotation artifact
A visual artifact (white pixels) appeared on the edge of the
rotating spinner track texture, likely due to RGB color bleed during
bilinear filtering in Raylib.
Pre-multiplying the alpha channel of the spinner track image using
`rl.image_alpha_premultiply` significantly reduces the visibility of the
artifact.
* lint
DevTekVE