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Tesla: Coop Steering (#1283)

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* Tesla: Coop Steering

* bump

* bump

* sync with opendbc/master

* resolve comment

* add oscillation warning and add confirmation

* styling desc

* beta

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
This commit is contained in:
Amy Jeanes
2025-11-02 02:47:30 +00:00
committed by GitHub
parent f60c2b6a83
commit 682d738ffa
5 changed files with 42 additions and 2 deletions
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1
common/params_keys.h
View File

@@ -208,6 +208,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"HyundaiLongitudinalTuning", {PERSISTENT | BACKUP, INT, "0"}},
{"SubaruStopAndGo", {PERSISTENT | BACKUP, BOOL, "0"}},
{"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},
{"TeslaCoopSteering", {PERSISTENT | BACKUP, BOOL, "0"}},
{"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
{"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},

2
opendbc_repo

Submodule opendbc_repo updated: e0e1626820...c7126f8ba6

34
selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.cc
View File

@@ -8,7 +8,41 @@
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h"
TeslaSettings::TeslaSettings(QWidget *parent) : BrandSettingsInterface(parent) {
constexpr int coopSteeringMinKmh = 23; // minimum speed for cooperative steering (enforced by Tesla firmware)
constexpr int oemSteeringMinKmh = 48; // minimum speed for OEM lane departure avoidance (enforced by Tesla firmware)
bool is_metric = params.getBool("IsMetric");
QString unit = is_metric ? "km/h" : "mph";
int display_value_coop;
int display_value_oem;
if (is_metric) {
display_value_coop = coopSteeringMinKmh;
display_value_oem = oemSteeringMinKmh;
} else {
display_value_coop = static_cast<int>(std::round(coopSteeringMinKmh * KM_TO_MILE));
display_value_oem = static_cast<int>(std::round(oemSteeringMinKmh * KM_TO_MILE));
}
const QString coop_desc = QString("<b>%1</b><br><br>"
"%2<br>"
"%3<br>")
.arg(tr("Warning: May experience steering oscillations below %5 %6 during turns, recommend disabling this feature if you experience these."))
.arg(tr("Allows the driver to provide limited steering input while openpilot is engaged."))
.arg(tr("Only works above %4 %6."))
.arg(display_value_coop)
.arg(display_value_oem)
.arg(unit);
coopSteeringToggle = new ParamControlSP(
"TeslaCoopSteering",
tr("Cooperative Steering (Beta)"),
coop_desc,
"",
this
);
list->addItem(coopSteeringToggle);
coopSteeringToggle->showDescription();
coopSteeringToggle->setConfirmation(true, false);
}
void TeslaSettings::updateSettings() {
coopSteeringToggle->setEnabled(offroad);
}

2
selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h
View File

@@ -22,5 +22,5 @@ public:
void updateSettings() override;
private:
bool offroad = false;
ParamControlSP *coopSteeringToggle = nullptr;
};

5
sunnypilot/selfdrive/car/interfaces.py
View File

@@ -115,4 +115,9 @@ def initialize_params(params) -> list[dict[str, Any]]:
"SubaruStopAndGoManualParkingBrake",
])
# tesla
keys.extend([
"TeslaCoopSteering",
])
return [{k: params.get(k, return_default=True)} for k in keys]