* add EGL support to CameraView
* view 3 cameras
* use a more direct approach
* add new line
* cleanup
* cleanup close()
* extract EGL to a seperate file
* cleanup
* add try/except to close()
* rename egl_textures
* improve implementation
This new layout visualizes actuator data, CAN steering messages, and car state variables. It provides multiple time-series plots to aid in debugging and analysis. Plugin configurations are also included for extended functionality.
Simplified control flag handling for angle steering, adjusted torque calculations for smoother ramp rates, and updated tuning parameters for the Hyundai Ioniq 5 PE. Minor adjustment to return value handling in lateral control functions.
Remove duplicate STEER_ANGLE_SATURATION_THRESHOLD import
Cleaned up an unnecessary duplicate import of STEER_ANGLE_SATURATION_THRESHOLD from latcontrol_angle_torque. This simplifies the module imports and prevents potential redundancy or confusion.
Refactor lateral control to combine torque and angle logic
Merged functionalities of LatControlTorque and LatControlAngle into a single LatControlAngleTorque class. Refactored code to utilize methods from both parent classes, reducing duplication and improving maintainability.
Add angle-torque hybrid lateral control for Hyundai CAN FD
Introduces `LatControlAngleTorque` to enable hybrid angle and torque-based steering for specific Hyundai models. Updates related logic in carcontroller, interface, and controlsd to accommodate this new lateral control method. Adjusts torque parameters for enhanced control in supported models.
Replaced direct access to `params` with instance variables for torque parameters to improve code clarity and maintainability. Updated smoothing factor description in angle tuning settings to include speed-related behavior. This enhances readability and prepares for further tuning adjustments.
Updated the value of HkgTuningOverridingCycles to a string for consistency with other parameters in the tuning configuration. This ensures proper handling and avoids potential issues with type mismatches.
Add overriding cycles parameter for torque adjustment
Introduced "HkgTuningOverridingCycles" for configurable user override torque ramp-down cycles. Updated relevant logic in torque control and UI settings to handle the new parameter. This improves flexibility in adjusting steering torque override behavior.
Introduce separate angle tuning controls for HKG vehicles, including smoothing factor, min torque, and max torque parameters. Refactor developer panel to integrate the new settings into a dedicated UI panel, enhancing modularity and customization capabilities.
Enhanced the description to clarify its effect on steering behavior. Included details on how the smoothing factor impacts steering smoothness using EMA, aiding user understanding.
Refactored the calculation and application of the steering angle to improve code clarity and ensure smoother transitions. Removed unused parameter update logic in `latcontrol_angle.py` and enhanced handling of driver overrides in `carcontroller.py`.
Replaced `self._params` with `self.params` to correctly access the parameter `HkgTuningAngleSmoothingFactor`. This ensures the smoothing factor is updated as intended during the control loop.
Introduced a dynamic smoothing factor using the `HkgTuningAngleSmoothingFactor` parameter. This allows more granular control over curvature smoothing based on customizable user input, enhancing driving smoothness. Added necessary logic to process and apply this parameter efficiently.
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.
Updated the `filter_speed_matrox` values to improve curvature filtering behavior at different speeds. This change ensures better handling and stability across a wider range of driving conditions.
Introduced speed-based dynamic alpha adjustment using interpolation for smoother curvature filtering. This improves steering angle calculations by adapting filter sensitivity to vehicle speed, enhancing control performance.
Updated curvature breakpoints and torque scaling for improved control in sharp turns. Increased filter alpha for faster curvature response while maintaining system stability.
Updated curvature breakpoints in Hyundai carcontroller to improve torque scaling for curved driving. Slightly refined the filter coefficient in lateral control for smoother curvature filtering and more accurate steering adjustments.
Introduced dynamic torque scaling based on curvature for smoother and more adaptive steering control. Replaced raw curvature inputs with filtered curvature for enhanced stability and reduced noise in steering angle calculations. Removed unused speed scaling logic to simplify the lateral control flow.
This reverts commit ea1af879ba2905b076ccfe65993a9db701d689dd.
Revert "More improvement but still not quite"
This reverts commit ad95493c5c61b2ace7c459d2ebc151ddaa80040f.
Revert "Adjust low-speed scaling for lateral control angle"
This reverts commit 6f789ac1ebb66b0239b4028303573c2d7d386b39.
Revert "Refactor speed-based steering scaling logic."
This reverts commit 1d40735ab8db8d470ff3b287a6b42847beffff7d.
Updated the steering angle computation to use a clearer and more descriptive speed-scaling configuration. Replaced low-speed-specific logic with a generalized approach based on speed breakpoints and corresponding influence factors. This improves maintainability and ensures smoother steering adjustments at varying speeds.
Refined the low-speed scaling parameters by modifying speed breakpoints and factors. This improves handling at lower speeds for smoother and more predictable behavior.
Alexandre Nobuharu Sato