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onroad UI: GPS speed display, hidden when no fix

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Speed indicator now uses gpsLocation speed (MPH) instead of carState
vEgo. Hides completely when no GPS fix is available. Added gpsLocation
to UI SubMaster subscriptions.

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
This commit is contained in:
Brian Hanson
2026-04-13 05:55:30 +00:00
parent 98b117b610
commit 77b2ecef20
3 changed files with 14 additions and 10 deletions
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22
selfdrive/ui/qt/onroad.cc
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@@ -341,6 +341,7 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
const bool cs_alive = sm.alive("controlsState");
const auto cs = sm["controlsState"].getControlsState();
const auto car_state = sm["carState"].getCarState();
(void)car_state; // CLEARPILOT: suppress unused warning, will use later
// Handle older routes where vCruiseCluster is not set
float v_cruise = cs.getVCruiseCluster() == 0.0 ? cs.getVCruise() : cs.getVCruiseCluster();
@@ -350,11 +351,15 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
setSpeed *= KM_TO_MILE;
}
// Handle older routes where vEgoCluster is not set
v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0;
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 *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH;
// CLEARPILOT: use GPS speed if available, hide speed display if no GPS fix
has_gps_speed = sm.valid("gpsLocation") && sm["gpsLocation"].getGpsLocation().getHasFix();
if (has_gps_speed) {
float gps_speed_ms = sm["gpsLocation"].getGpsLocation().getSpeed();
speed = std::max<float>(0.0, gps_speed_ms);
speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH;
} else {
speed = 0.0;
}
// auto speed_limit_sign = nav_instruction.getSpeedLimitSign();
// speedLimit = slcOverridden ? scene.speed_limit_overridden_speed : speedLimitController ? scene.speed_limit : nav_alive ? nav_instruction.getSpeedLimit() : 0.0;
@@ -449,13 +454,10 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
// Todo: lead speed
// Todo: Experimental speed
// // current speed
if (!(scene.hide_speed)) {
// CLEARPILOT changes to 120 from ~176
// Maybe we want to hide this?
// CLEARPILOT: show GPS speed, hide when no fix
if (has_gps_speed && !scene.hide_speed) {
p.setFont(InterFont(140, QFont::Bold));
drawText(p, rect().center().x(), 210, speedStr);
// CLEARPILOT changes to 40 from 66
p.setFont(InterFont(50));
drawText(p, rect().center().x(), 290, speedUnit, 200);
}