mawei
/
openpilot1
mirror of https://github.com/huifan0114/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Visuals - Quality of Life - Use Wheel Speed 

Use the wheel speed instead of the cluster speed in the onroad UI.
This commit is contained in:
FrogAi 2024-06-08 14:26:30 -07:00
parent 61495da103
commit efb2be1900
3 changed files with 3 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
selfdrive/ui/qt/onroad/annotated_camera.cc
View File

@ -62,7 +62,7 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
// Handle older routes where vEgoCluster is not set
v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0;
float v_ego = v_ego_cluster_seen ? car_state.getVEgoCluster() : car_state.getVEgo();
float v_ego = v_ego_cluster_seen && !s.scene.wheel_speed ? car_state.getVEgoCluster() : car_state.getVEgo();
speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH;

1
selfdrive/ui/ui.cc
View File

@ -426,6 +426,7 @@ void ui_update_frogpilot_params(UIState *s, Params &params) {
scene.hide_speed_ui = scene.hide_speed && params.getBool("HideSpeedUI");
scene.map_style = quality_of_life_visuals ? params.getInt("MapStyle") : 0;
scene.stopped_timer = quality_of_life_visuals && params.getBool("StoppedTimer");
scene.wheel_speed = quality_of_life_visuals && params.getBool("WheelSpeed");
scene.speed_limit_controller = scene.longitudinal_control && params.getBool("SpeedLimitController");
scene.show_slc_offset = scene.speed_limit_controller && params.getBool("ShowSLCOffset");

1
selfdrive/ui/ui.h
View File

@ -202,6 +202,7 @@ typedef struct UIScene {
bool use_si;
bool use_vienna_slc_sign;
bool vtsc_controlling_curve;
bool wheel_speed;
double fps;