IQ.Lvbs/IQ.Pilot
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IQ.Pilot Release Commit @ aedea0e

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IQ.Lvbs CI [bot]
2026-07-23 21:59:32 -05:00
parent 38b686ee2f
commit ade24fb921
131 changed files with 111 additions and 184 deletions
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8
selfdrive/controls/lib/latcontrol_torque.py
View File

@@ -365,8 +365,12 @@ class NeuralNetworkFeedForward(PilotLateralBrain):
super().__init__(lac_torque, CP, CP_IQ, CI)
self.params = Params()
self.enabled = self.params.get_bool("NeuralNetworkFeedForward")
self.has_nn_model = CP_IQ.iqLateralNet.model.path != MOCK_MODEL_PATH
self.model = NNTorqueModel(CP_IQ.iqLateralNet.model.path)
# NNFF applies only when a real trained model for this car is present on disk.
# No models shipped (or no match / MOCK) -> skip NNFF entirely and fall back to
# the stock torque feed-forward. Models are re-added as they are retrained.
self.has_nn_model = (CP_IQ.iqLateralNet.model.path != MOCK_MODEL_PATH
and os.path.isfile(CP_IQ.iqLateralNet.model.path))
self.model = NNTorqueModel(CP_IQ.iqLateralNet.model.path) if self.has_nn_model else None
self.pitch = FirstOrderFilter(0.0, 0.5, 0.01)
self.pitch_last = 0.0

2
selfdrive/pandad/panda_safety.cc
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@@ -90,6 +90,6 @@ void PandaSafety::setSafetyMode(const std::vector<std::string> &params_string) {
}
bool PandaSafety::getOffroadMode() {
auto offroad_mode = params_.getBool("OffroadMode");
auto offroad_mode = params_.getBool("IQAlwaysOffroad");
return offroad_mode;
}

30
selfdrive/ui/layouts/settings_hub.py
View File

@@ -162,7 +162,7 @@ class SettingsHubLayout(Widget):
self._power_rect = rl.Rectangle(0, 0, 0, 0)
self._offroad_rect = rl.Rectangle(0, 0, 0, 0)
self._night_rect = rl.Rectangle(0, 0, 0, 0)
self._quiet_rect = rl.Rectangle(0, 0, 0, 0)
self._silent_rect = rl.Rectangle(0, 0, 0, 0)
# Build the grid from the settings panels, skipping ones hidden from navigation (e.g. Cruise).
panels = self._settings._panels
@@ -442,14 +442,14 @@ class SettingsHubLayout(Widget):
self._power_rect = rl.Rectangle(bx + BUBBLE_SIZE + 18, cy - BUBBLE_SIZE / 2, BUBBLE_SIZE, BUBBLE_SIZE)
self._offroad_rect = rl.Rectangle(bx + 2 * (BUBBLE_SIZE + 18), cy - BUBBLE_SIZE / 2, BUBBLE_SIZE, BUBBLE_SIZE)
self._night_rect = rl.Rectangle(bx + 3 * (BUBBLE_SIZE + 18), cy - BUBBLE_SIZE / 2, BUBBLE_SIZE, BUBBLE_SIZE)
self._quiet_rect = rl.Rectangle(bx + 4 * (BUBBLE_SIZE + 18), cy - BUBBLE_SIZE / 2, BUBBLE_SIZE, BUBBLE_SIZE)
self._silent_rect = rl.Rectangle(bx + 4 * (BUBBLE_SIZE + 18), cy - BUBBLE_SIZE / 2, BUBBLE_SIZE, BUBBLE_SIZE)
mouse = rl.get_mouse_position()
for r, icon in ((self._restart_rect, self._restart_icon), (self._power_rect, self._power_icon)):
pressed = self.is_pressed and rl.check_collision_point_rec(mouse, r)
rl.draw_circle(int(r.x + BUBBLE_SIZE / 2), int(cy), BUBBLE_SIZE / 2, BUBBLE_RED_PRESSED if pressed else BUBBLE_RED)
rl.draw_texture(icon, int(r.x + (BUBBLE_SIZE - icon.width) / 2), int(cy - icon.height / 2), rl.WHITE)
# Always Offroad bubble (grey when off, teal when on)
offroad_active = ui_state.params.get_bool("OffroadMode")
offroad_active = ui_state.params.get_bool("IQAlwaysOffroad")
pressed = self.is_pressed and rl.check_collision_point_rec(mouse, self._offroad_rect)
offroad_color = (BUBBLE_TEAL_PRESSED if pressed else BUBBLE_TEAL) if offroad_active else (BUBBLE_GREY_PRESSED if pressed else BUBBLE_GREY)
rl.draw_circle(int(self._offroad_rect.x + BUBBLE_SIZE / 2), int(cy), BUBBLE_SIZE / 2, offroad_color)
@@ -465,15 +465,15 @@ class SettingsHubLayout(Widget):
int(self._night_rect.x + (BUBBLE_SIZE - self._night_icon.width) / 2),
int(cy - self._night_icon.height / 2), rl.WHITE)
# Quiet Mode bubble (grey bell when off, red bell-with-slash when on)
quiet_active = ui_state.params.get_bool("IQAlertSilence")
pressed = self.is_pressed and rl.check_collision_point_rec(mouse, self._quiet_rect)
quiet_color = (BUBBLE_RED_PRESSED if pressed else BUBBLE_RED) if quiet_active else (BUBBLE_GREY_PRESSED if pressed else BUBBLE_GREY)
quiet_icon = self._bell_slash_icon if quiet_active else self._bell_icon
rl.draw_circle(int(self._quiet_rect.x + BUBBLE_SIZE / 2), int(cy), BUBBLE_SIZE / 2, quiet_color)
rl.draw_texture(quiet_icon,
int(self._quiet_rect.x + (BUBBLE_SIZE - quiet_icon.width) / 2),
int(cy - quiet_icon.height / 2), rl.WHITE)
# Silent Mode bubble (grey bell when off, red bell-with-slash when on)
silent_active = ui_state.params.get_bool("IQAlertSilence")
pressed = self.is_pressed and rl.check_collision_point_rec(mouse, self._silent_rect)
silent_color = (BUBBLE_RED_PRESSED if pressed else BUBBLE_RED) if silent_active else (BUBBLE_GREY_PRESSED if pressed else BUBBLE_GREY)
silent_icon = self._bell_slash_icon if silent_active else self._bell_icon
rl.draw_circle(int(self._silent_rect.x + BUBBLE_SIZE / 2), int(cy), BUBBLE_SIZE / 2, silent_color)
rl.draw_texture(silent_icon,
int(self._silent_rect.x + (BUBBLE_SIZE - silent_icon.width) / 2),
int(cy - silent_icon.height / 2), rl.WHITE)
# Small version label, top-right of the header row. Its scroll viewport
# starts after the title, so long branch text does not clip at the bubbles.
@@ -517,7 +517,7 @@ class SettingsHubLayout(Widget):
self._toggle_offroad_prompt()
elif rl.check_collision_point_rec(mouse_pos, self._night_rect):
ui_state.params.put_bool("NightMode", not ui_state.params.get_bool("NightMode"))
elif rl.check_collision_point_rec(mouse_pos, self._quiet_rect):
elif rl.check_collision_point_rec(mouse_pos, self._silent_rect):
ui_state.params.put_bool("IQAlertSilence", not ui_state.params.get_bool("IQAlertSilence"))
def _reboot_prompt(self):
@@ -546,11 +546,11 @@ class SettingsHubLayout(Widget):
if ui_state.engaged:
gui_app.set_modal_overlay(alert_dialog(tr("Disengage to Enter Always Offroad Mode")))
return
active = ui_state.params.get_bool("OffroadMode")
active = ui_state.params.get_bool("IQAlwaysOffroad")
msg = tr("Are you sure you want to exit Always Offroad mode?") if active else tr("Are you sure you want to enter Always Offroad mode?")
def _confirm(result: int):
if result == DialogResult.CONFIRM and not ui_state.engaged:
ui_state.params.put_bool("OffroadMode", not active)
ui_state.params.put_bool("IQAlwaysOffroad", not active)
gui_app.set_modal_overlay(ConfirmDialog(msg, tr("Confirm")), callback=_confirm)

10
selfdrive/ui/mici/layouts/settings/steering.py
View File

@@ -66,10 +66,10 @@ class SabSettingsPanel(NavScroller):
class LaneChangePanel(NavScroller):
def __init__(self):
super().__init__()
self._timer = MappedParamToggle("Auto Lane Change", "AutoLaneChangeTimer",
self._timer = MappedParamToggle("Auto Lane Change", "IQLaneChangeTimer",
["off", "nudge", "nudgeless", "0.5 s", "1 s", "2 s", "3 s"],
[-1, 0, 1, 2, 3, 4, 5])
self._bsm_delay = BigParamControl("Delay with Blind Spot", "AutoLaneChangeBsmDelay")
self._bsm_delay = BigParamControl("Delay with Blind Spot", "IQLaneChangeBsmDelay")
self._continuous = BigParamControl("Continuous Changes", "LaneChangeContinuous")
self._scroller.add_widgets([self._timer, self._bsm_delay, self._continuous])
@@ -77,11 +77,11 @@ class LaneChangePanel(NavScroller):
super().show_event()
self._timer.refresh()
enable_bsm = bool(ui_state.CP and ui_state.CP.enableBsm)
if not enable_bsm and ui_state.params.get_bool("AutoLaneChangeBsmDelay"):
ui_state.params.remove("AutoLaneChangeBsmDelay")
if not enable_bsm and ui_state.params.get_bool("IQLaneChangeBsmDelay"):
ui_state.params.remove("IQLaneChangeBsmDelay")
self._bsm_delay.refresh()
self._bsm_delay.set_enabled(
enable_bsm and int(ui_state.params.get("AutoLaneChangeTimer", return_default=True)) > AutoLaneChangeMode.NUDGE
enable_bsm and int(ui_state.params.get("IQLaneChangeTimer", return_default=True)) > AutoLaneChangeMode.NUDGE
)
self._continuous.refresh()

2
selfdrive/ui/ui_state.py
View File

@@ -189,7 +189,7 @@ class IQDevice:
def _set_awake(self, on: bool):
if on and self._params.get("DeviceBootMode", return_default=True) == 1:
self._params.put_bool("OffroadMode", True)
self._params.put_bool("IQAlwaysOffroad", True)
@staticmethod
def set_onroad_brightness(_ui_state, awake: bool, cur_brightness: float) -> float: