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IQ.Pilot Release Commit @ d400490

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IQ.Lvbs CI [bot]
2026-07-25 14:42:10 -05:00
parent f0ef157344
commit 729bde8fb9
66 changed files with 435 additions and 538 deletions
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19
iqpilot/ui/layouts/settings/iq_panels.py
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@@ -872,10 +872,10 @@ class SteeringLayout(Widget):
lambda v: f"{int(round(v * (CV.MPH_TO_KPH if ui_state.is_metric else 1)))}"
f" {'km/h' if ui_state.is_metric else 'mph'}"
)
self._lagd_toggle = toggle_item(tr("Live Learning Steer Delay"), "", param="IQLiveSteerDelay")
self._steer_delay_toggle = toggle_item(tr("Self-Tuning Steer Delay"), "", param="IQLiveSteerDelay")
self._delay_control = option_item(
tr("Adjust Software Delay"), "IQSoftwareSteerDelay", 5, 50,
tr("Adjust the fixed software delay added to steer actuator delay when Live Learning Steer Delay is turned off. The default software delay value is 0.2 s."),
tr("Manual Delay Offset"), "IQSoftwareSteerDelay", 5, 50,
tr("How much lead time to add on top of the car's own steering rack delay while self-tuning is off. Default is 0.2 s."),
1, None, True, "", style.BUTTON_ACTION_WIDTH, None, True, lambda v: f"{float(v):.2f}s"
)
@@ -890,7 +890,7 @@ class SteeringLayout(Widget):
self._lane_turn_desire_toggle,
self._lane_turn_value_control,
IQLineSeparator(40),
self._lagd_toggle,
self._steer_delay_toggle,
self._delay_control,
]
return items
@@ -922,19 +922,20 @@ class SteeringLayout(Widget):
live_delay = ui_state.params.get_bool("IQLiveSteerDelay")
self._lane_turn_desire_toggle.action_item.set_state(turn_desire)
self._lane_turn_value_control.set_visible(turn_desire)
self._lagd_toggle.action_item.set_state(live_delay)
self._steer_delay_toggle.action_item.set_state(live_delay)
self._delay_control.set_visible(not live_delay)
new_step = int(round(100 / CV.MPH_TO_KPH)) if ui_state.is_metric else 100
if self._lane_turn_value_control.action_item.value_change_step != new_step:
self._lane_turn_value_control.action_item.value_change_step = new_step
lagd_desc = tr("Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time.")
delay_desc = tr("Let IQ.Pilot measure how long your steering takes to respond and keep that figure up to date. "
"Switch it off to pin the timing yourself.")
if live_delay:
lagd_desc += f"<br>{tr('Live Steer Delay:')} {ui_state.sm['liveDelay'].lateralDelay:.3f} s"
delay_desc += f"<br>{tr('Measured:')} {ui_state.sm['liveDelay'].lateralDelay:.3f} s"
elif ui_state.CP:
sw = float(ui_state.params.get("IQSoftwareSteerDelay", "0.2"))
cp = ui_state.CP.steerActuatorDelay
lagd_desc += f"<br>{tr('Actuator Delay:')} {cp:.2f} s + {tr('Software Delay:')} {sw:.2f} s = {tr('Total Delay:')} {cp + sw:.2f} s"
self._lagd_toggle.set_description(lagd_desc)
delay_desc += f"<br>{tr('Rack:')} {cp:.2f} s + {tr('Offset:')} {sw:.2f} s = {tr('Total:')} {cp + sw:.2f} s"
self._steer_delay_toggle.set_description(delay_desc)
def _render(self, rect):
if self._current_panel == PanelType.LANE_CHANGE: