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IQ.Pilot Release Commit @ aade6af

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IQ.Lvbs CI [bot]
2026-07-23 22:12:53 -05:00
parent ade24fb921
commit ae90bc6d41
6 changed files with 20 additions and 17 deletions
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10
iqpilot/common/steer_delay.py
View File

@@ -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):

10
iqpilot/ui/layouts/settings/iq_panels.py
View File

@@ -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)