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Visuals - Quality of Life - Use Wheel Speed

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Use the wheel speed instead of the cluster speed in the onroad UI.
This commit is contained in:
FrogAi 2024-05-11 15:26:14 -07:00
parent 6ff42e6b80
commit 537b1124d0
3 changed files with 3 additions and 1 deletions
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2
selfdrive/ui/qt/onroad.cc
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@ -692,7 +692,7 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
// Handle older routes where vEgoCluster is not set // Handle older routes where vEgoCluster is not set
v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0; 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 && !scene.wheel_speed ? car_state.getVEgoCluster() : car_state.getVEgo();
speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0; speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH; speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH;

1
selfdrive/ui/ui.cc
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@ -406,6 +406,7 @@ void ui_update_frogpilot_params(UIState *s) {
scene.hide_speed = quality_of_life_visuals && params.getBool("HideSpeed"); scene.hide_speed = quality_of_life_visuals && params.getBool("HideSpeed");
scene.hide_speed_ui = scene.hide_speed && params.getBool("HideSpeedUI"); scene.hide_speed_ui = scene.hide_speed && params.getBool("HideSpeedUI");
scene.map_style = quality_of_life_visuals ? params.getInt("MapStyle") : 0; scene.map_style = quality_of_life_visuals ? params.getInt("MapStyle") : 0;
scene.wheel_speed = quality_of_life_visuals && params.getBool("WheelSpeed");
scene.speed_limit_controller = scene.longitudinal_control && params.getBool("SpeedLimitController"); scene.speed_limit_controller = scene.longitudinal_control && params.getBool("SpeedLimitController");
scene.show_slc_offset = scene.speed_limit_controller && params.getBool("ShowSLCOffset"); scene.show_slc_offset = scene.speed_limit_controller && params.getBool("ShowSLCOffset");

1
selfdrive/ui/ui.h
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@ -260,6 +260,7 @@ typedef struct UIScene {
bool use_si; bool use_si;
bool use_vienna_slc_sign; bool use_vienna_slc_sign;
bool vtsc_controlling_curve; bool vtsc_controlling_curve;
bool wheel_speed;
float acceleration; float acceleration;
float acceleration_jerk; float acceleration_jerk;