IQ.Pilot Release Commit @ aade6af

common/params_keys.h

@@ -284,9 +284,9 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
 
     // iqpilot model params
     {"CameraOffset", {PERSISTENT, FLOAT, "0.0"}},
-    {"LagdToggle", {PERSISTENT, BOOL, "1"}},
-    {"LagdToggleDelay", {PERSISTENT, FLOAT, "0.2"}},
-    {"LagdValueCache", {PERSISTENT, FLOAT, "0.2"}},
+    {"IQLiveSteerDelay", {PERSISTENT, BOOL, "1"}},
+    {"IQSoftwareSteerDelay", {PERSISTENT, FLOAT, "0.2"}},
+    {"IQSteerDelayCache", {PERSISTENT, FLOAT, "0.2"}},
     {"LaneChangeBsd", {PERSISTENT, INT, "0"}},          // -1 ignore BSD, 0 default, 1 block lane change on BSD
     {"LaneChangeContinuous", {PERSISTENT, BOOL, "0"}},  // 0 one-shot per blinker, 1 chain on held blinker (torque-gated)
     {"LaneChangeDelay", {PERSISTENT, FLOAT, "0.0"}},    // tenths of a second; scaled by 0.1 in desire_helper

iqpilot/common/steer_delay.py

@@ -3,14 +3,14 @@ Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed
 
 Chooses which steer-actuator delay the lateral controllers run with: the value the
 live estimator learned, or the driver's fixed software delay — gated by the
-"LagdToggle" param. The pick is mirrored into "LagdValueCache" so consumers that do
+"IQLiveSteerDelay" param. The pick is mirrored into "IQSteerDelayCache" so consumers that do
 not subscribe to liveDelay can still read the current value.
 """
 from openpilot.common.params import Params
 
-_ENABLE_KEY = "LagdToggle"
-_FIXED_KEY = "LagdToggleDelay"
-_CACHE_KEY = "LagdValueCache"
+_ENABLE_KEY = "IQLiveSteerDelay"
+_FIXED_KEY = "IQSoftwareSteerDelay"
+_CACHE_KEY = "IQSteerDelayCache"
 
 
 def resolve_steer_delay(params, stock_delay):
@@ -27,7 +27,7 @@ def cached_steer_delay():
 
 
 class SteerDelayPublisher:
-  """Refreshes LagdValueCache every lag message: the learned live delay when the
+  """Refreshes IQSteerDelayCache every lag message: the learned live delay when the
   toggle is on, else the actuator delay plus the driver's fixed software offset."""
 
   def __init__(self, car_params):

iqpilot/ui/layouts/settings/iq_panels.py

@@ -829,7 +829,7 @@ class SteeringLayout(Widget):
     items = self._initialize_items()
     self._scroller = Scroller(items, line_separator=False, spacing=0)
 
-    for ctrl, key in [(self._lane_turn_value_control, "IQLaneTurnValue"), (self._delay_control, "LagdToggleDelay")]:
+    for ctrl, key in [(self._lane_turn_value_control, "IQLaneTurnValue"), (self._delay_control, "IQSoftwareSteerDelay")]:
       ctrl.action_item.set_value(int(float(ui_state.params.get(key, return_default=True)) * 100))
 
   def _initialize_items(self):
@@ -872,9 +872,9 @@ 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="LagdToggle")
+    self._lagd_toggle = toggle_item(tr("Live Learning Steer Delay"), "", param="IQLiveSteerDelay")
     self._delay_control = option_item(
-      tr("Adjust Software Delay"), "LagdToggleDelay", 5, 50,
+      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."),
       1, None, True, "", style.BUTTON_ACTION_WIDTH, None, True, lambda v: f"{float(v):.2f}s"
     )
@@ -919,7 +919,7 @@ class SteeringLayout(Widget):
     self._nnff_toggle.action_item.set_enabled(ui_state.is_offroad() and steering_supported)
 
     turn_desire = ui_state.params.get_bool("IQLaneTurnDesire")
-    live_delay = ui_state.params.get_bool("LagdToggle")
+    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)
@@ -931,7 +931,7 @@ class SteeringLayout(Widget):
     if live_delay:
       lagd_desc += f"<br>{tr('Live Steer Delay:')} {ui_state.sm['liveDelay'].lateralDelay:.3f} s"
     elif ui_state.CP:
-      sw = float(ui_state.params.get("LagdToggleDelay", "0.2"))
+      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)

selfdrive/ui/mici/layouts/settings/models.py

@@ -121,8 +121,8 @@ class ModelsLayoutMici(NavScroller):
     self._clear.set_click_callback(self._confirm_clear_cache)
     self._clear.set_enabled(lambda: ui_state.is_offroad())
 
-    self._lagd = BigParamControl("live learning steer delay", "LagdToggle")
-    self._sw_delay = MappedParamToggle("software delay", "LagdToggleDelay", _DELAY_OPTIONS, _DELAY_VALUES)
+    self._lagd = BigParamControl("live learning steer delay", "IQLiveSteerDelay")
+    self._sw_delay = MappedParamToggle("software delay", "IQSoftwareSteerDelay", _DELAY_OPTIONS, _DELAY_VALUES)
     self._sw_delay.set_visible(lambda: not self._lagd._checked)
 
     self._lane_turn = BigParamControl("use lane turn desires", "IQLaneTurnDesire")
@@ -453,7 +453,7 @@ class ModelsLayoutMici(NavScroller):
         self._lagd.set_value("")
       return
     try:
-      sw = float(ui_state.params.get("LagdToggleDelay", return_default=True))
+      sw = float(ui_state.params.get("IQSoftwareSteerDelay", return_default=True))
     except (TypeError, ValueError):
       sw = 0.2
     if ui_state.CP is not None:

system/manager/helpers.py

@@ -125,6 +125,9 @@ _RENAMED_PARAMS = {
   "OffroadMode": "IQAlwaysOffroad",
   "AutoLaneChangeTimer": "IQLaneChangeTimer",
   "AutoLaneChangeBsmDelay": "IQLaneChangeBsmDelay",
+  "LagdToggle": "IQLiveSteerDelay",
+  "LagdToggleDelay": "IQSoftwareSteerDelay",
+  "LagdValueCache": "IQSteerDelayCache",
 }
 
 

tools/iqpilot/mici_preview.py

@@ -165,7 +165,7 @@ def _patch_mock_state():
   mp.put("Version",         "IQ.Pilot 0.9.5-mici")
 
   # ── Models ────────────────────────────────────────────────────────────────
-  mp.put("LagdToggle",      False)
+  mp.put("IQLiveSteerDelay",      False)
   mp.put("IQLaneTurnDesire",  False)
   mp.put("IQLaneTurnValue",   "19.0")