Revised the determination of `steeringPressed` to account for both hands-on-wheel detection and torque overriding in CAN FD setups. Simplified fallback logic for non-CAN FD configurations for better code clarity and maintainability.
Adjusted the sensitivity and threshold values for `HOD_Dir_Status` in steering press updates, improving accuracy in detecting steering input. This change aligns with updated parameter requirements for better responsiveness.
Updated the condition to detect steering press by changing HOD_Dir_Status threshold from `> 2` to `>= 2`. This ensures the detection logic aligns correctly with expected behavior.
Introduced handling for the `HOD_FD_01_100ms` message when the CANFD angle steering flag is enabled. This ensures proper message parsing and extends compatibility for specific Hyundai vehicle configurations.
Adjusted the steering override frame window and incorporated new HOD_Dir_Status to improve hands-on detection. Added parsing for new signals in Hyundai CAN FD, enhancing steering override responsiveness and reliability.
Increased the minimum override angle cap from 0.01 to 0.1 and explicitly cast the maximum cap to a float. This change improves consistency and ensures proper handling of steering limits.
Reduced the override frame window and updated the angle cap logic to use MAX_ANGLE_RATE. These changes aim to enhance steering responsiveness and safety by fine-tuning steer angle limits.
The `smoothing_factor` parameter and related logic have been removed to simplify the steering angle smoothing approach. All references and usage of this parameter have been eliminated, relying solely on speed-based dynamic interpolation. This change streamlines the code while maintaining functionality.
Reduced `OVERRIDE_FRAME_WINDOW` and updated condition to properly respect override frame limits. This ensures smoother handling and more precise steering adjustments under certain driving scenarios.
Replaced `recently_overridden` with `frames_since_override` for better granularity and added dynamic override angle limits using interpolation. These changes enhance steering control accuracy during user overrides and improve overall code readability.
Adjusted logic for recently overridden steering to improve angle limits and torque smoothing. Removed unused or redundant code, optimizing the functionality and maintaining cleaner readability.
Extracted the steering angle smoothing logic into a standalone function `sp_smooth_angle` to enhance readability and reusability. Adjusted angle smoothing parameters and introduced a maximum vehicle speed threshold for applying smoothing. Minor updates improve maintainability and ensure consistent behavior across speed ranges.
Updated `STEER_THRESHOLD` to 350 and `NO_LONGER_OVERRIDING_THRESHOLD` to 150 for better alignment with Hyundai CAN FD steering behavior. These changes ensure improved compatibility and more accurate steering response.
Re-enables resetting `apply_angle_last` to `steering_angle` when steering is recently overridden. This ensures proper handling of steering angle limits during transitions.
Simplified torque ramp-up logic by combining conditions and adjusted `STEER_THRESHOLD` for CANFD angle steering. These changes aim to enhance control precision and maintain consistency in overrides.
Decrease the override timeout from 100 to 50 frames, ensuring quicker recognition of driver input override. This improves responsiveness and aligns with refined control behavior.
Removed restrictive rate limiting during recent user overrides to improve steering response. Adjusted logic to ensure correct handling of steering angle when lateral control is inactive or overridden.
Adjust steering behavior to account for recent user overrides, improving safety and control. Introduced a "recently_overridden" check to limit angle rates and torque adjustments when user intervention is detected.
Added logic to use the current steering angle when the steering wheel is pressed, ensuring smoother transitions during user overrides. Updated function parameters and implementation to reflect this enhancement.
Removed redundant `recently_overridden` logic and introduced a more robust approach for tracking user steering overrides. Added `NO_LONGER_OVERRIDING_THRESHOLD` and updated conditions to improve steer override handling. Adjustments ensure smoother torque transitions and more accurate steering state detection.
Replaced hardcoded `angle_min_active_torque` with `ANGLE_MIN_TORQUE` from params for better configurability and consistency. This ensures the torque clamping logic aligns with defined parameters.
* exit offroad btn on offroad-home
* Remove alert for Always-Offroad.
Replaced with header "Always Offroad Active"
* refresh state when device wakes up
* cleanup
* cleaning
* Add pulsing glow effect to ExitOffroadButton
Introduced a QTimer-based mechanism to create a pulsing glow effect around the ExitOffroadButton. This enhances visual feedback by animating the outline with varying alpha transparency, improving UI responsiveness and aesthetics.
* move custom asset to sunnypilot
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Co-authored-by: DevTekVE <devtekve@gmail.com>
Updated torque calculation logic with a new optional parameter for minimum active torque, streamlining control behavior. Deactivated and cleaned up references to HkgAngleLiveTuning, simplifying configuration and reducing runtime complexities. Updated relevant UI and parameter descriptions for clarity.
* init
* some fixes
* move
* more
* old navd helpers
* bring back cereal
* fix linting
* more
* add to cereal first
* sp events
* lint
* implement in long plan
* fixme-sp
* refactor state machine
* wrong state
* start refactor controller
* some type hints
* init these
* enable debug print
* ui? ui!
* print them out
* fix spinner import
* fix path
* let's use gps chips directly for now
* service missing
* publish events
* no nav for now
* need to sub
* no car state speed yet
* missed event
* Car: `CarStateSP`
* fix tests
* bring back car state speed limit
* fix
* use old controller for now
* fix
* fix source
* type hints
* none for now
* formatting
* more
* create directory if does not exist
* mypy my bt
* policy param catch exceptions
* handle all params with exceptions
* more
* single method
* define types in init
* rename
* simpler op enabled check
* more mypy stuff
* rename
* no need for brake pressed
* don't reset if gas pressed
* type hint all
* type hint all
* back to upstream
* in another pr
* no longer need data type
* qlog
* slc in another pr
* use horizontal accuracy
* set core affinity for all realtime processes
* unused
* sort
* unused
* type hint and slight cleanup
* from old implementation
* use directly
* combine pm
* slight more cleanup
* type hints
* even more type hint
* lint
* more cleanup
* even less
* license
* models panel
* models panel
* fix ui report
* stupid scroll
* move model selector to models panel
* cleanup whitespaces
* cleanup bad merge
* model search
* support searching with short name
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Co-authored-by: DevTekVE <devtekve@gmail.com>
* Refactor and extend ModelRenderer for custom Sunnypilot logic
Refactored `ModelRenderer` to `ModelRendererSP` with enhanced features such as lane line updates, path drawing, and lead management for Sunnypilot. Introduced new methods for model updates, lead drawing, and improved path rendering with experimental mode support. Ensured compatibility by integrating with Sunnypilot-specific HUD and camera components.
* Update selfdrive/ui/sunnypilot/qt/onroad/model.cc
* Refactor `ModelRenderer` for modularity
Moved constants and `get_path_length_idx` function to the header file for reuse and clarity. Updated `drawPath` and related methods to better handle surface dimensions, improving rendering flexibility. Made key functions virtual to allow further customization in derived classes.
* Cleaning logic on ModelRenderSP
Given that we've refactored slightly the original ModelRender, we no longer need to duplicate the logic on our own implementation
* Enable blind spot detection and visualization.
Added support for blind spot warnings, including gradient-colored visualizations for left and right blind spots on the on-road UI. Introduced a new "BlindSpot" parameter with related logic for detection and rendering, as well as a settings option for user toggling.
* Cleanup format
Clean
Cleanup and fixes
* Let's backup the BlindSpot setting
* add false for restart-needed
* Add blind spot warning toggle to VisualsPanel
Moved blind spot warning toggle from settings.cc to VisualsPanel and implemented support for dynamic parameter updates. This change introduces a dedicated layout for managing visual settings and improves modularity in the settings interface.
* Update Blind Spot Warnings setting description
Clarified the description to specify that warnings are displayed only if the car supports Blind Spot Monitoring (BSM). This ensures better user understanding of the feature's requirements.
* Avoid diff on settings.cc
* More cleanup
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Co-authored-by: DevTekVE <devtekve@gmail.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Co-authored-by: Nayan <nayan8teen@gmail.com>
Update CODEOWNERS with new ownership rules
Expand ownership to additional paths for better code coverage and clarity. Newly added owners include @Discountchubbs and @devtekve for specified directories and files. This ensures proper oversight and maintenance of critical areas.
* Model panel
* Get this outta here and use sunnylink instead
* Remove space
* 'not' because we want gas gating to use e2e/mpc blend
* Add toggles to models_panel.cc
* "keep enabled for stock behavior"
* Add this here
* Cloudlog result
* change cloudlog to debug, and add latsmooth to steer actuator delay.
Need to edit json. Will do locally so when this is merged its a simple ready to go push.
* Cleanup
* Update longitudinal_planner.py
* Remove gasgating for now.. may need to be placed in model
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Co-authored-by: DevTekVE <devtekve@gmail.com>
DevTekVE